AN FPGA BASED CYCLIC NAVIGATION ALGORITHM FOR

MOBILE ROBOTS IN AN INDOOR ENVIRONMENT

A Project work submitted in partial fulfillment of the requirement for the award
of the degree of

BACHELOR OF TECHNOLOGY
in
ELECTRONICS & COMMUNICATION ENGINEERING

By

M. K. RAVALI 14211A0402
G. MANISHA 14211A0414
T. HEMA RANI 14211A0432
BHUKYA SAI
CHARAN RATHOD 14211A0436

Under the esteemed guidance of

Mr. KISHORE VENNELA, M.Tech.

Assistant Professor

Department of Electronics and Communication Engineering

B.V.Raju Institute of Technology, Autonomous
Vishnupur, Narsapur, Medak.(Dt)
(Affiliated to JNTU, Hyderabad)
2018
 B.V.Raju Institute of Technology
Vishnupur, Narsapur, Medak.(Dt) Pin:502313
(Affiliated to JNTU, Hyderabad)
Ph: 08458-222000, 222001 Fax: 08458-222002

Department of Electronics & Communication Engineering

CERTIFICATE

This is to certify that the Project work entitled “AN FPGA BASED CYCLIC
NAVIGATION ALGORITHM FOR MOBILE ROBOTS IN AN INDOOR
ENVIRONMENT” is being submitted by M. K. Ravali (14211A0402), G. Manisha
(14211A0414), T. Hema Rani (14211A0432), Bhukya Sai Charan Rathod (14211A0436)
in partial fulfillment of the requirement for the award of the degree of B.Tech. in Electronics
& Communication Engineering, by Jawaharlal Nehru Technological University Hyderabad
is a record of bonafide work carried out by them under my guidance and supervision from
2017 to 2018.
The results presented in this project have been verified and are found to be
satisfactory.

INTERNAL GUIDE HOD

Mr. KISHORE VENNELA Dr.I.A.PASHA

M.Tech, Assistant Professor M.E, PhD, Post Doc.,MISTE,MIEEE
Professor &HOD, Dept. of ECE

EXTERNAL EXAMINER
I
 B.V.Raju Institute of Technology
(UGC Autonomous)
Vishnupur, Narsapur, Medak, Telangana

VLSI AUTOMATION LABORATORY

Department of Electronics and Communication
Engineering

CERTIFICATE

This is to certify that M. K. Ravali, G. Manisha, T. Hema Rani, Bhukya Sai Charan
Rathod bearing Roll No. 14211A0402, 14211A0414, 14211A0432, 14211A0436
respectively have successfully completed their project titled “AN FPGA BASED CYCLIC
NAVIGATION ALGORITHM FOR MOBILE ROBOTS IN AN INDOOR
ENVIRONMENT” using VIVADO tool set in VLSI AUTOMATION laboratory, BVRIT-N
during the period 2017 to 2018.

COORDINATOR HOD

Dr. CHINNAAIAH M C Dr. I A PASHA

M.E, PhD, Post.Doc
M.Tech, PhD
(Villanova, USA),
MISTE, MIEEE.

II
 ACKNOWLEDGEMENT

We take opportunity to express our immense gratitude to the persons who

contributed for our work, for being our inspiration and guide which led to the successful
completion of the project.

We are grateful to our College Management and our beloved Principal

Dr.Y.Krishna Reddy, M.Tech, Ph.D for providing us the necessary infrastructure and
facilities that ensured smooth and satisfactory execution of the project.

We would like to express out profound gratitude to our Head of the department
Dr.I.A.Pasha, M.E, Ph.D, Post Doc, HOD, Dept. of ECE, for his encouragement, inspiration
and close monitoring and guidance he gave us during the execution of the project.

We express our sincere thanks to Mr.Kishore Vennela, M.Tech, Assistant

Professor, Dept. of ECE, our guide for his valuable suggestions and motivation in
successful completion of project.

We also wish to express our thanks to all the faculty members and laboratory staff
who were helpful directly and indirectly for the completion of the project.

With Regards and gratitude,

M.K. Ravali (14211A0402),

G. Manisha (14211A0414),
T. Hema Rani (14211A0432),
Bhukya Sai Charan Rathod
(14211A0436)

III
 DECLARATION

We hereby declare that the project entitled “AN FPGA BASED CYCLIC NAVIGATION
ALGORITHM FOR MOBILE ROBOTS IN AN INDOOR ENVIRONMENT”
submitted to B.V. Raju Institute of technology, affiliated to Jawaharlal Nehru Technological
University, Hyderabad for the award of the degree of Bachelor of Technology in Electronics
and Communication Engineering is a result of original project work done by us.

It is further declared that the project report on any part therefore has not been
previously submitted to any University or Institute for the award of degree or diploma.

1. M. K. Ravali (14211A0402) 2. G. Manisha (14211A0414)

3. T. Hema Rani (14211A0432) 4. Bhukya Sai Charan Rathod (14211A0436)

IV
 ABSTRACT

The research on navigation techniques for the movement of a robot in a closed area
has always been in the limelight. A navigation mobile robot possesses required intelligence to
ensure global and local navigation in a given environment which include obstacles that are
either static or dynamic. The main aim of this project is to design such an automated
navigation platform which can guide itself to a given destination point through pre-
programmed paths and locomotion of the robot takes place.
The environment chosen here for the robot is a 2-Dimensional manifold. It consists of
start point and a destination point. We include finite number of static obstacles, which we
assume to be straight lines, to form a maze like environment. The robot moves towards the
destination by measuring the distance to its closest obstacles which are within the range of
the ultrasonic sensor. On its way to the destination from a given source point, it manages to
move along different paths in order to provide service at different zones of the given maze
environment. By using ultrasonic sensors we are only able to control the movement of the
robot. Therefore, in order to stop the robot for a few seconds at the zone to be served and
later continue its path, we make use of IR sensors. So, whenever the IR goes high due to the
obstacle or the black patch which we are going to place at the required points, the robot stops
at those points for a few seconds, thereby indicating that it is serving at that zone.
It can be of great use in applications such as service robots in hospitals/old-age homes
and as guard robots for the purpose of surveillance. It is can also be put to use for the
transportation of raw materials in an industry or for postal delivery to a particular section in
an office, etc.

Keywords: Mobile Robot Navigation, Indoor Navigation, Maze Algorithm, Cyclic

Navigation Algorithm

V
 PREFACE

The document is framed such that, Chapter 1 gives the introduction to robot navigation
and its architecture. In Chapter 2, we will elaborate the various indoor navigation techniques and
different maze algorithms that exist. In Chapter 3, a detailed explanation of the cyclic navigation
algorithm is given with respect to the maze considered. In Chapter 4, the block diagram along
with a detailed description of each component is given. Also, we have included the project flow
and code flow in this chapter. In Chapter 5, the simulation results and hardware implementation
are provided. In Chapter 6, we have the applications and the advantages of our project. In
Chapter 7, the conclusion and the future scope of the project are mentioned, followed by
references.

The documentation also provided with paper publication in “International Journal of Advance Research,
Ideas and Innovations in Technology” , ISSN: 2454 – 132x , VOLUME 4 – ISSUE 2(v4i2 - 1823) and
attached copy of an acceptance letter.

VI
 CONTENTS

CERTIFICATE I

SPECIAL LAB CERTIFICATE II

ACKNOWLEDGEMENT III

DECLARATION IV

ABSTRACT V

PREFACE VI

CONTENTS VII

LIST OF FIGURES AND TABLES IX

1. INTRODUCTION 01
1.1 Robot Navigation 01
1.2 Navigation Architecture 01

2. LITERATURE SURVEY 04
2.1 Introduction 04
2.1.1 Navigation Algorithm 04
2.2 Indoor Navigation 05
2.2.1 Kinematic Navigation Techniques 06
2.2.2 Wireless Navigation Techniques 08
2.2.3 Visual Navigation Techniques 12
2.3 Outdoor Navigation 14
2.4 Path Planning 15
2.5 Maze Generation Algorithm 16
2.5.1 Graph Theory Based Method 16
2.5.2 Depth-First Search 17
2.6 Maze Solving 19
2.6.1 Wall Follower Algorithm 20
2.6.2 Pledge Algorithm 22
2.6.3 Tremaux’s Algorithm 23
2.6.4 Dead-End Filling Algorithm 24
2.6.5 Recursive Algorithm 24

VII
 2.7 Flood-Fill Algorithm 25
2.7.1 Introduction 25
2.7.2 Related Works 25
2.7.3 The Maze and the Robot 26
2.7.4 Algorithm 27
2.8 Algorithm For Solving Any Kind Of Maze 31
3. CYCLIC NAVIGATION ALGORITHM 33
3.1 Introduction 33
3.2 Maze Environment 33
4. HARDWARE IMPLEMENTATION 37
4.1 Block Diagram 37
4.2 Hardware Components 37
4.2.1 FPGA Board – Spartan 3AN (XC3S50AN) 38
4.2.2 DC Motors 43
4.2.3 Motor Drivers –L293D 47
4.2.4 Ultrasonic Sensors –HCSR04 50
4.2.5 IR Sensor V 53
4.3 Project Flow 58
4.4 Code Flow 58
4.5 Robot Design 61
5. RESULTS 62
5.1 Simulation Results And Description 62
5.2 Hardware Implementation 63
6. APPLICATIONS AND ADVANTAGES 66
7. CONCLUSION AND FUTURE SCOPE 67
REFERENCES 68

VIII
 LIST OF FIGURES

Figure 1.1 Overall Navigation Architecture 02

Figure 2.1 Kinematic Navigation based indoor navigation 07
Figure 2.2 Wireless techniques for Indoor Navigation 09
Figure 2.3 Visual Navigation Technique for Indoor Navigation 13
Figure 2.4 Animation of Graph theory based method 16
Figure 2.5 Animation of generator's thinking process using Depth-
First Search 17
Figure 2.6 Wall follower Algorithm 21
Figure 2.7 Pledge Algorithm 23
Figure 2.8 Trémaux’s Algorithm 24
Figure 2.9 Design of the Maze 26
Figure 2.10 Actual Maze Setup 27
Figure 2.11 Maze-mapping Array 28
Figure 2.12 Flowchart for updating wall location at each cell 29
Figure 2.13 Change in array locations to update the wall based on
robot orientation 29
Figure 2.14 Flowchart for flooding the maze and finding the path 30
Figure 3.1 Environment chosen for robot movement 34
Figure 4.1 Block Diagram 37
Figure 4.2 FPGA Board Spartan 3AN 38
Figure 4.3 Spartan-3AN Family Architecture 41
Figure 4.4 Spartan-3AN FPGA QFP Package Marking 42
Figure 4.5 User Defined IO pins 42
Figure 4.6 DC Motor 43
Figure 4.7 Principle of DC motor 43
Figure 4.8 Block Diagram of a DC motor 44
Figure 4.9 Circuit diagram of DC motor 45
Figure 4.10 Working of DC motor 46
Figure 4.11 L293D Pin Diagram 48
Figure 4.12 Block Diagram of L293D Motor driver 49

IX
Figure 4.13 Schematic of Inputs and Outputs 50
Figure 4.14 Diagram of the basic ultrasonic sensor operation 51
Figure 4.15 Ultrasonic sensor (HCSR04) 51
Figure 4.16 Timing Diagram of HCSR04 52
Figure 4.17 IR Sensor 53
Figure 4.18 Active infrared sensors 54
Figure 4.19 IR transmitter 54
Figure 4.20 IR transmitter circuit diagram 55
Figure 4.21 IR Receiver 55
Figure 4.22 IR Receiver Circuit diagram 56
Figure 4.23 Principle of working of IR sensor 56
Figure 4.24 IR sensor Circuit diagram 57
Figure 4.25 Project Flow 58
Figure 4.26 Code Flow Chart 59
Figure 4.27 Robot structure 61
Figure 5.1 Simulation Results Of The Cyclic Navigation Algorithm 62
Figure 5.2 (a) Robot stops for a while on detecting the black patch 63
Figure 5.2 (b) Robot takes a right turn on reaching a corner 64
Figure 5.2 (c) Robot taking a turn on detecting the partition 64
Figure 5.2 (d) Robot moves along the partition after the turn 65
Figure 5.2 (e) Robot completes the maze and comes out through the
exit 65

LIST OF TABLES
Table 2.1 Illustration of Recursive Division 18
Table 2.2 Values returned by the algorithm and its respective turn 30
Table 3.1 Different possible paths provided for robot navigation
for location service 35
Table 4.1 Summary of Spartan-3AN FPGA Attributes 40
Table 4.2 Maximum User I/O by Package 42