FPGA Implementation of Data Fusion Technique for Mobile Robot Obstacle Detection and Avoidance in Indoor Environment

Kabiru Bawa

Abstract: Data fusion techniques has an important role in today's life, especially in the modern world where devices are now more of intelligent devices. This intelligent devices requires to sense data and then fused them to obtain better result with respect to their objectives. Two sensors are often fused to acquire information which cannot be acquired by a single sensor alone. Sensor fusion is extremely use for mobile robots for obstacle detection, avoidance and navigation. So a technique is propose which can detect an obstacle, judge its distance and avoid obstacles using the two ultrasonic sensor with the help of an FPGA and a rear ultrasonic sensor is also employ to protect the robot from obstacle at the back side of the robot. Here the propose data fusion technique is Extended Kalman Filter type of estimation method which is use as the fusion algorithm. A motor controller is also employ to control the four wheel robot during navigation. The proposed technique aims to ease robot control methods, make cost effective, faster processing and less complex system for sensor fusion.

Keywords: FPGA, Robot Model, Ultrasonic sensor, EKF, Motor controller

Edition: Volume 4 Issue 2, February 2015,

Pages: 1972 - 1974