Call for Paper - November 2023 Edition
IJCA solicits original research papers for the November 2023 Edition. Last date of manuscript submission is October 20, 2023. Read More

Successfully Designing FPGA-Card for Mobile Robot Research

International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Year of Publication: 2016
Baligh Naji, Karim Abbes, Chokri Abdelmoula, Mohamed Masmoudi

Baligh Naji, Karim Abbes, Chokri Abdelmoula and Mohamed Masmoudi. Article: Successfully Designing FPGA-Card for Mobile Robot Research. International Journal of Computer Applications 135(9):44-50, February 2016. Published by Foundation of Computer Science (FCS), NY, USA. BibTeX

	author = {Baligh Naji and Karim Abbes and Chokri Abdelmoula and Mohamed Masmoudi},
	title = {Article: Successfully Designing FPGA-Card for Mobile Robot Research},
	journal = {International Journal of Computer Applications},
	year = {2016},
	volume = {135},
	number = {9},
	pages = {44-50},
	month = {February},
	note = {Published by Foundation of Computer Science (FCS), NY, USA}


This paper describes a new design of electronic board based on FPGA Cyclone III. The main objective of this idea is towards small size, fast Real Time processing, high integration and analog peripherals that are not disposal in available FPGA development kits. For the optimum performance a Microcontroller 8 Bits Flash CMS was used which is interfaced with FPGA and used as an ADC to make all the data processing on board in Real Time. This card can be used in many applications on the field of mobile robotics like autonomous navigation and intelligent parallel parking. To communicate and supervise all activities of mobile robots, an RF module was installed on the board which serves as a transmitter to a host computer that will receive all information in Real Time. The paper introduces many challenging issues which are being addressed to enhance in laboratories researchers project planning, designing and implementing capabilities. These issues are the FPGA performance, interfacing the microcontroller to the FPGA, implementing the flexible processing algorithms and high speed interconnection between the boards. The developed card was tested via the implementation of real time algorithms, and was validated experimentally on a mobile robot system.


  1. Z. Wei, D.J. Lee, B.E. Nelson, "FPGA-based Real-Time Optical Flow Algorithm Design and Implementation", Journal of Multimedia, Vol.2, No.5, 2007, 38-45.
  2. P. Gupta, D. Gupta, "Design and Implementation of FPGA Based Signal Processing Card", International Journal of VLSI design and communication systems, Vol.2, 2011, 131-137.
  3. R. Siegwart, I. Nourbakhsh. 2004 Introduction to Autonomous Mobile Robots. Cambridge, Mass, USA.
  4. L. Spacek, C. Burbridge, "Instantaneous Robot Self-Localization and Motion Estimation With Omnidirectional Vision", Robotics and Autonomous Systems, Vol.55, 2007, 667-674.
  5. A. Stansfield, I. Page, "The Design of a New FPGA Architecture", Lecture Notes in Computer Science, Vol.975, 1995, 1-14.
  6. F. Hanchek, S. Dutt, "Methodologies for Tolerating Cell and Interconnect Faults in FPGAs", IEEE Transactions on Computers, Vol.47, 1998, 15-33.
  7. S. A. Baird, J. A. Coughlan, R. Halsall, J. Hartley, W. J. Haynes, T. Parthipan, "A PMC based ADC card for CMS tracker readout", IEEE Transactions on Nuclear Science, Vol.47, 2000, 158-161.
  8. T. Geralis, S. Kyriazopoulou, C. Markou, I. Michailakis, K. Zachariadou, "The Global Trigger Processor Emulator System for the CMS Experiment", IEEE Transactions on Nuclear Science, Vol.52, 2005, 1679-1684.
  9. S. -M. Liu, "Design of a Color Card Printer Robot", IEEE Transactions on Consumer Electronics, Vol.51, 2005, 739-746.
  10. A. Hidvegi, D. Eriksson, B. Cederwall, S. Silverstein, and C. Bohm. 2007. A High-Speed Data Acquisition System for Segmented GE-Detectors. Nuclear Science Symposium Conference.
  11. J. C. M. Eugenio, M. A. Estrada, "Hardware/Software FPGA Architecture for Robotics Applications", Lecture Notes in Computer Science, Vol.5453, 2009, 27-38.
  12. S. J. E. Wilton, "Towards Analytical Methods for FPGA Architecture Investigation", Lecture Notes in Computer Science, Vol.5992, 2010, 3.
  13. C. Zhe, C. Ling, D. Zong-tao, and W. Dong-mei. 2011. Design of Infrared Image Display Card Based On FPGA. IEEE Conference Publications, 3rd International Workshop on Intelligent Systems and Applications (ISA).
  14. P. Gupta, and N. Kumar. 2011. Interfacing 16-bit 1-MSPS CMOS ADC to FPGA Based Signal Processing Card. IEEE Conference Publications, World Congress on Information and Communication Technologies (WICT).
  15. F. A. Khan, Z. Hafeez, A. Mirza, and Q. Ain. 2011. Design of FPGA Based DAQ Card Using PCI Express Protocol. IEEE Conference Publications, 14th International conference Multitopic (INMIC).
  16. F. Carrio, V. Castillo, A. Ferrer, V. Gonzalez, E. Higon, C. Marin, P. Moreno, E. Sanchis, C. Solans, A. Valero, J. Valls, "Optical Link Card Design for the Phase II Upgrade of TileCal Experiemnt", IEEE Transactions on Nuclear Science, Vol.58, 2011, 1657-1663.
  17. R. Alba-Flores, F. Rios-Gutierrez, and C. Jeanniton. 2012. Project-Based Learning Approach in a Senior Level Course in Autonomous Mobile Robots. IEEE Conference Publications, Proceedings of IEEE Southeastcon.
  18. C. Abdelmoula, F. Chaari, M. Masmoudi, "A New Design of a Robot Prototype Autonomous for Navigation and Parallel Parking", International Journal of Automation Mobile Robot and Intelligent Systems, Vol.3, 2009, 47-59.
  19. C. Abdelmoula, F. Chaari, M. Masmoudi, "Real Time Algorithm implemented in Altera’s FPGA for a Newly Designed Mobile Robot: Autonomous Navigation and Parallel Parking", International Journal of Multidiscipline Modeling in Materials and Structures, Vol 10, 2014, 75-93.
  20. C. Abdelmoula, K. Jaber, M. Masmoudi, "Path tracking Control of a Driven Mobile Robot in a Dynamic Environment", International Journal of Engineering Intelligent Systems for Electrical Engineering and Communications, Vol 29, 2014, 1-13.
  21. C. Abdelmoula, H. Rouabeh, M. Masmoudi, "Behavior Control of a New Designed Mobile Robot Based on Fuzzy Logic and Neuro Fuzzy Approaches for Monitoring Wall", International Journal of Intelligent Engineering and Systems, Vol 6, 2013, 17-26.
  22. Getting Started with Altium Designer. Cited in


FPGA, Microcontroller, Mobile robot, Robotics applications.