TABLE OF CONTENTS
CHAPTER TITLE PAGE
PROJECT TITLE i
REPORT STATUS VERIFICATION FORM ii
STUDENT’S DECLARATION iii
SUPERVISOR’S DECLARATION iv
DEDICATION v
ACKNOWLEDGEMENT vi
ABSTRACT vii
ABSTRAK viii
TABLE OF CONTENT ix
LIST OF TABLE xii
LIST OF FIGURE xiii
LIST OF ABBREVIATIONS xv
I INTRODUCTION
1 1.1
Project Overview 1
1.2 Objectives
2 1.3
Problem Statement 2
1.4 Scope
2 1.5
Thesis Organization 2
II LITERATURE REVIEW
4 2.1
Introduction to FPGA 4
2.1.1 FPGA Architecture
5 2.2
Microcontroller 5
2.3 Differences between FPGA and microcontroller 5
2.4 A Line Follower Robot from Design to
6 Implementation: Technical Issues and Problem
2.4.1 Introduction
6 2.4.2
Methodology 7
2.4.3 Result
10 2.5
A Soft IP Core for a Reflective Optical Sensor in 10 a Robot System on Chip
2.5.1 Introduction
10 2.5.2
Methodology 11
2.5.3 Result
14 2.6
Reconfiguration of Mobile Robot 16
2.6.1 Introduction
16 2.6.2
Methodology 16
2.6.3 Result
18
III METHODOLOGY
19 3.1
Introduction 19
3.2 Flowchart
19 3.3
Block Diagram 21
3.3.1 Sensors
21 3.3.2
Sensor Module 22
3.3.3 Robot Controller
23 3.3.4
Motor 23
3.3.5 Motor Module
24 3.3.6
Field Programmable Gate Array FPGA 24 3.3.7
Comparator 26
3.4 Software Application
28 3.4.1
Verilog 28
IV RESULT AND DISCUSSION
29 4.1
Hardware 29
4.1.1 Input Sensor
29 4.1.2
FPGA 30
4.1.3 Output Motor
33 4.2
Software 36
4.2.1 Simulation
36 4.3
Discussion 40
V CONCLUSION AND RECOMMENDATION
41 5.1
Conclusion 41
5.2 Future Recommendation
42
REFERENCES 43
LIST OF TABLES NO. TITLE
PAGE
4.1 Motor movement according to input from sensor 34
LIST OF FIGURES
NO. OF FIGURE TITLE PAGE
2.1 Line follower block diagram
7 2.2
Sensors location method 8
2.3 Schematic of IR sensor
8 2.4
Driver and motor circuit 9
2.5 Front and rear wheels
10 2.6
The TCND5000 Reflective Optical Sensors on 12
the Gecko3 Robot 2.7
Sensor Infra-Red Emitter Receiver 13
2.8 The SoC solution for the robot line-following project 14
2.9 The Experimental Procedure – Sensor Motion over
14 a Grayscale
2.10 IP core outputs for sensor motion over a
