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Deployment of a Competition Sprinter Robot over FPGA Platform with Feedback Control Systems for Velocity and Position

Abstract:

This paper describes the development of a sprinter robot for tournament competitions, considering aspects in electronics, mechanical and software. The designed robot reaches a maximum velocity of 2.23 m/s in tournament competitions. The paths it travels consist in closed roads formed by straight lines and curves with a minimum radio of 10 cm. The computer deployment that controls the robot was in FPGA EP4CE22F17C6N (Altera’s Cyclone IV family). It was also used a development card DE0-Nano. The system employs a processor defined in software NIOS II from Altera with peripherals for the handling of the robot, and a control system algorithm in cascade for control. Two secondary loops control the velocity of each motor and a primary loop controls each reference according to the direction and central velocity of the robot. Besides, it was deployed a filter system by software, using the Kalman filter algorithm.