FPGA Based Collision Avoidance using Acceleration Velocity Obstacles
It is a Field Programmable Gate Array (FPGA) based implementation of Acceleration Velocity Obstacle based Collision Avoidance for an omni-directional robot with acceleration constraint. Specifically a parallel architecture for collision avoidance is proposed that portrays the advantages of FPGA implementation over the sequential implementation for same processor or clock speed. FPGA based robotics is seen to gain popularity due to low cost, portability, seamless interface to hardware and most importantly due to inherent parallelism enshrined in various robotic algorithms.
Associated People: Neeraj Pradhan, Roopak Dubey
Designing and Constructing a Quadrotor
A quadrotor is a multicopter with 4 rotors that enable it to fly freely in any direction. It is an UAV(Unmanned Aerial Vehicle).The body of the quad is made completely using carbon fibre, providing light weight and strength. It uses 4 ESC’s (Electronic Speed Controllers) providing constant current flow of 30A and 4 sensorlessbrushless motors rotating at high RPM(1,130 RPM/Volt) to support its flight. The output of the ESC’s determines speeds of different motors. It uses KK2.0 board as its FC(Flight Controller) which has 2 kinds of sensors namely gyroscopes and accelerometers. By varying the speeds of different motors, its direction of motion and angle of rotation can be determined. It uses 5 channel wireless radio communication(2.4Ghz) for transmission and reception of signals. The whole system is powered through a 3S LiPo(Lithium Polymer) battery which has a high discharge rate. The system when functioning, can fly in any direction with any degree of rotation. The motors opposite to each other rotate in the same direction, with 1 pair in CW direction , while another in AntiCW direction. By adjusting the speeds of different motors, motion in the three axis is determined, namely Yaw, Tilt and Roll.
Associated People: Kunth Jain
Parallel Path-planning Implementation on FPGA-controlled Omni-directional Robot
Implementing time-efficient parallel path-planning algorithm on FPGA for navigation in a dynamic obstacle-filled environment. Algorithm is coded in VHDL and uses a 2D cellular array architecture which employs multiple instantiations of identical processing blocks to solve the problem in parallel.
Associated People: Priyam Parashar, Prahal Ghai