以FPGA實現多功能自走車

Design and Implementation of a Multi-Function Mobile Robot Using FPGA

陳彥志(Yen-Chih Chen)

指導教授 ： 黃英哲

元智大學/電機通訊學院/電機工程學系/碩士(2008年)

摘要

本論文提出以場可規劃邏輯閘陣列為架構之多功能自走車。此研究整合了超音波感測器、藍芽模組、無線攝影機模組、直流伺服馬達和機械夾具。透過場可規劃邏輯閘陣列上的控制器協調，使多功能自走車可在一定的範圍內完成自動搜尋取物的功能。而圖控介面程式則可遠端控制自走車，並藉由自走車上所回傳的影像完成環境探勘的任務。在場可規劃邏輯閘陣列上是使用硬體描述語言來設計控制器及週邊輸出入電路。圖控程式介面則是以微軟作業系統為平台，使用C語言來開發程式。

關鍵字

場可規劃邏輯閘陣列 ； 自走車 ； 藍芽 ； 圖控介面

並列摘要

In this thesis, a multi-function mobile robot is proposed. The multi-function mobile robot integrates ultrasonic sensor, Bluetooth module, wireless camera module, DC servo motor and mechanical gripper. FPGA is applied to be the main controller. It calculates and delivers commands to the mobile robot to automatically search and fetch the objects. A human-machine interface is developed to remotely control the mobile robot, through wireless camera, for the exploration of the environment. Hardware description language is used in the controller design and the peripheral I / O circuit. Human-machine interface applies the Microsoft operating system platform, and it is developed by C program.

並列關鍵字

FPGA ； Mobile robot ； Bluetooth ； Human-machine interface

參考文獻

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