Robot Navigation Using FPGA Based Moving Object Tracking System
- Văn hóa và Hoạt động
- Hà Mỹ Duyên
The paper describes an object tracking robot system implemented on FPGA. The system collects real-time object images from the OV7670 camera, the images are passed through the median filter step to enhance image quality. Based on the color (red) the object is separated from the background, proceed to filter the object by mathematical morphological method to remove noise around the object. The (new) coordinates of the object are determined, thereby giving control signals to the robot. Embedded system on FPGA includes MicroBlaze soft processor, hardware IP cores: median filter, color separation, morphological filter. These cores are capable of High-speed pipeline computation and data communication through the DMA Controller enables high data rates whether faster. The entire system was executed in realtime on Xilinx's Spartan-6 FPGA KIT.
Keywords—Robot Chasing Objects, FPGAs, Embedded System, Median Filter, Homomorphic Filter, MicroBlaze.