28
June
Path Following in AGV using Xilinx FPGAs
Introduction
This article introduce a possible architectural design for path planning for Autonomous Guided Vehicles (AGV).
The article proposes a set of functional blocks and their interaction to ensure Real-Time path planning on a Xilinx KRIA System On Module and Xilinx ZCU104.
The article is divided in four main sections:
Modelling of the car-like system
Setup of the system
Trajectory Planning
Proposed Architectural Design
Modelling of the car-like system
The modelization of the car-like is an interesting topic in Analytical Mechanics and Robotics, due the system being underactuated.
A mechanical system is said to be underactuated if its configurations are