FPGA apprenticed Line Follower Robot

This is a final year project also known as the Capstone Project from the department of Electrical and Computer Engineering at McMaster University, ON, Canada. The robot is called "Light Integrated Line Traversing Intelligent Automobile (LILTIA)". The project was conducted by a group of four students - Amit Mehta, Jaimy R. Wickrema, Sharnav Banik and Shanker Gunachandran. The hardware logic was designed on an FPGA of Cyclone II series on a DE1 design board from ALTERA. The PCB, that holds the Interface circuit on top of the DE1 board was designed by Jaimy. The algorithm and simulation was designed by Sharnav and the Hardware logic modules were designed by both Jaimy and Sharnav. Unlike any other line follwer robot designed in the past, LILTIA uses a line scan camera for scanning the line instead of conventional IR sensors. This makes the bot operable on any color as opposed only black and white, since it does not depend of the reflectivity of the track. The entire design was graphically simulated on MATLAB before the hardware logic was designed which ensured it was going to work perfectly once put into hardware. An ultrasonic sensor was used for obstacle detection and wheel encoders were used for obtaining the current velocity of the motors. The velocities to the PWM motors were always assigned using the the current velocity acquired from the wheel encoders which ensured an absolutely jitter free and zigzag motionless robot. In total of almost a thousand lines of matlab ...



http://www.youtube.com/watch?v=S6GqZOwMhP4&hl=en

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