Design and implementation of a genetic algorithm IP core on an FPGA for path planning of mobile robots

Tuncer, Adem; Yildirim, Mehmet Bayram

doi:10.3906/elk-1502-122

Cited by 11 publications

(5 citation statements)

References 25 publications

(36 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Their proposal makes collision detection circuits for the roadmap edges, which entirely run in parallel to perform the path search. A second relevant example [19] implements a customized genetic algorithm for a mobile robot's path planning. A Xilinx FPGA device and a Pioneer 3DX platform were used in this work.…”

Section: Related Workmentioning

confidence: 99%

Reconfigurable Computing for Reactive Robotics Using Open-Source FPGAs

et al. 2021

View full text Add to dashboard Cite

Reconfigurable computing provides a paradigm to create intelligent systems different from the classic software computing approach. Instead of using a processor with an instruction set, a full stack of middleware, and an application program running on top, the field-programmable gate arrays (FPGAs) integrate a cell set that can be configured in different ways. A few vendors have dominated this market with their proprietary tools, hardware devices, and boards, resulting in fragmented ecosystems with few standards and little interoperation. However, a new and complete toolchain for FPGAs with its associated open tools has recently emerged from the open-source community. Robotics is an expanding application field that may definitely benefit from this revolution, as fast speed and low power consumption are usual requirements. This paper hypothesizes that basic reactive robot behaviors may be easily designed following the reconfigurable computing approach and the state-of-the-art open FPGA toolchain. They provide new abstractions such as circuit blocks and wires for building intelligent robots. Visual programming and block libraries make such development painless and reliable. As experimental validation, two reactive behaviors have been created in a real robot involving common sensors, actuators, and in-between logic. They have been also implemented using classic software programming for comparison purposes. Results are discussed and show that the development of reactive robot behaviors using reconfigurable computing and open tools is feasible, also achieving a high degree of simplicity and reusability, and benefiting from FPGAs’ low power consumption and time-critical responsiveness.

show abstract

Section: Related Workmentioning

confidence: 99%

Reconfigurable Computing for Reactive Robotics Using Open-Source FPGAs

et al. 2021

View full text Add to dashboard Cite

show abstract

“…Dönmez et al [15] proposed a Gaussian controller method that would allow the robot to be advanced from an initial position to the target position by determining the least costly path between the starting and target position on the images obtained from a camera mounted on the ceiling. Tuncer and Yildirim also [16] proposed a whole system for mobile robots including a vision-based path planning system using a camera mounted to the ceiling for locating the robot and obstacles. Mishra and Panda [17] proposed a multilevel color image segmentation method using entropybased thresholding and bat algorithm.…”

Section: Literature Reviewmentioning

confidence: 99%

Real-Time Obstacle Avoidance Based on Floor Detection for Mobile Robots

Hiçdurmaz

Tuncer

2020

Sakarya University Journal of Science

Self Cite

View full text Add to dashboard Cite

Obstacle detection and avoidance are two main problems that demand solutions in the autonomous movement of mobile robots. To this end, the robots have been equipped with sensors and cameras. This study proposes a new method that allows mobile robots to move freely without any collision in an uncertain (i.e., both static and dynamic) workspace by processing images taken using a real-time webcam. In the study, a robot was allowed to move depending on the visibility and suitability of the floor in the images. These steps were repeated for each new image and, furthermore, the images were segmented based on an adaptive threshold obtained by calculating the statistical parameters. This segmentation was aimed to separate the floor from other areas in the study. Experimental results demonstrate that the proposed method is extremely successful to separate the floor from other regions and has a low cost and flexible method for obstacle avoidance.

show abstract

“…These neural network implementations have been applied to pattern recognition [473][474][475][476], photovoltaic optimizations [25], modeling [477,478], controllers [479] and diagnostics [372]; power quality [480,481]; robotics control [482], robotics object detection and manipulation [483] and finally robotics object seeking [484]. Secondly, genetic algorithm applications include image processing [485][486][487][488], task scheduling [489][490][491], frequency estimation for digital relaying in power electrical systems [492][493][494][495] and mobile robots path planning [496][497][498][499]. Support Vector Machine (SVM) are widely used for classification and regression analysis [500].…”

Section: Machine Learningmentioning

confidence: 99%

“…• Localization [1150][1151][1152][1153][1154][1155][1156] • Trajectory/path planing [498,[1157][1158][1159][1160][1161][1162][1163] • Visual servoing [483,[1164][1165][1166][1167][1168][1169] • Navigation [11,1153,[1170][1171][1172][1173] • Stereo vision [1173][1174][1175][1176][1177] • Object/person follower/tracking [1168,[1178][1179][1180] • Ultrasonic Sensors [1181][1182][1183][1184][1185] • Robot Operating System (ROS) [1153,[1186][1187][1188][1189] • Educational [1190]…”

Section: Other Applicationsmentioning

confidence: 99%

Field Programmable Gate Array Applications—A Scientometric Review

2019

View full text Add to dashboard Cite

Field Programmable Gate Array (FPGA) is a general purpose programmable logic device that can be configured by a customer after manufacturing to perform from a simple logic gate operations to complex systems on chip or even artificial intelligence systems. Scientific publications related to FPGA started in 1992 and, up to now, we found more than 70,000 documents in the two leading scientific databases (Scopus and Clarivative Web of Science). These publications show the vast range of applications based on FPGAs, from the new mechanism that enables the magnetic suspension system for the kilogram redefinition, to the Mars rovers’ navigation systems. This paper reviews the top FPGAs’ applications by a scientometric analysis in ScientoPy, covering publications related to FPGAs from 1992 to 2018. Here we found the top 150 applications that we divided into the following categories: digital control, communication interfaces, networking, computer security, cryptography techniques, machine learning, digital signal processing, image and video processing, big data, computer algorithms and other applications. Also, we present an evolution and trend analysis of the related applications.

show abstract

Design and implementation of a genetic algorithm IP core on an FPGA for path planning of mobile robots

Cited by 11 publications

References 25 publications

Reconfigurable Computing for Reactive Robotics Using Open-Source FPGAs

Reconfigurable Computing for Reactive Robotics Using Open-Source FPGAs

Real-Time Obstacle Avoidance Based on Floor Detection for Mobile Robots

Field Programmable Gate Array Applications—A Scientometric Review

Contact Info

Product

Resources

About