Universal FPGA-Microcontroller Module for Autonomous Minirobots

Chinapirom T, Witkowski U, Rückert U (2005)
In: AMiRE. 21-26.

Conference Paper | Published | English

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Abstract
This paper presents an extension turret for efficient data processing for autonomous minirobots, in particular the minirobot Khepera. The Khepera robot is a base platform of a mobile autonomous system for our experiments, but the robot’s main processor cannot accomplish complex processing tasks with real-time requirements, because of the processor’s low performance. Thus, we have designed an extension hardware module based on a field programmable gate array (FPGA) to run the real-time processing and concurrently control other peripheral modules. The module with coupling of FPGA and a microcontroller gains robot’s ability and possesses FPGA’ flexibility of reconfiguration.
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Chinapirom T, Witkowski U, Rückert U. Universal FPGA-Microcontroller Module for Autonomous Minirobots. In: AMiRE. 2005: 21-26.
Chinapirom, T., Witkowski, U., & Rückert, U. (2005). Universal FPGA-Microcontroller Module for Autonomous Minirobots. AMiRE, 21-26.
Chinapirom, T., Witkowski, U., and Rückert, U. (2005). “Universal FPGA-Microcontroller Module for Autonomous Minirobots” in AMiRE 21-26.
Chinapirom, T., Witkowski, U., & Rückert, U., 2005. Universal FPGA-Microcontroller Module for Autonomous Minirobots. In AMiRE. pp. 21-26.
T. Chinapirom, U. Witkowski, and U. Rückert, “Universal FPGA-Microcontroller Module for Autonomous Minirobots”, AMiRE, 2005, pp.21-26.
Chinapirom, T., Witkowski, U., Rückert, U.: Universal FPGA-Microcontroller Module for Autonomous Minirobots. AMiRE. p. 21-26. (2005).
Chinapirom, Teerapat, Witkowski, Ulf, and Rückert, Ulrich. “Universal FPGA-Microcontroller Module for Autonomous Minirobots”. AMiRE. 2005. 21-26.
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