Based on FPGA (field programmable gate array) development board, this
paper presents the obstacle avoiding and ZigBee wireless control functions
for omni directional mobile robot.
By using ultrasonic transducers, the embedded controller receives the
obstacle distance signals, and then calculates the control signals to drive
three omni directional wheels DC motors which set up on mobile robot.
On the other hand, through the onboard RS-232 port, the controller as well as
receives the control signals from remote PC via ZigBee wireless
communication. The graphical human machine interface is programmed by
Visual Basic software at PC part; such the functions of mobile robot remote
control and messages transmission are displayed on screen.
The experiment results provide the FPGA implementation techniques for
control omni directional mobile robot; also extend the ZigBee wireless
communication techniques into the intelligent robot research field.
