Robot omnidireccional controlado con nios ii

Abstract

This project teaches the process of designing and building an omnidirectional robot based on the Nios II processor. Because the robot has the characteristic of being mobile we choose DE0 Nano development board for its size and weight offers the advantage of being portable, this development board is an embedded system based on an FPGA Cyclone IV from Altera. The first stage of the project involves the construction of the physical structure of the omnidirectional robot which has three wheels and is a two-story circular structure, the robot has the option to perform two tasks: a routine of omnidirectional movement and the obstacle detection and avoidance, the latter task is performed by ultrasound sensors which are located in the periphery upper level front. The second stage of the project involves the design and implementation of the controller where the controller hardware is implemented with SOPC Builder tool and the software is described using the development environment NIOS II IDE.