Embedded control for mobile robotic applications / Leena Vachhani, Pranjal Vyas, Arunkumar G. K.

Includes bibliographical references and index.

"This book aims to provide exposure to different embedded platforms' limitations for an exact realization of a controller in robotic applications. Typical issues in embedded implementation are limited memory, limited data-width, quantization noise, sampling noise, and limited computational capability. These implementation issues, if ignored, raise the question of stability of the designed controller. Hence, the analysis of controller design is incomplete without considering the issues in implementation. The authors present two methodologies to design embedded controllers; bottom-up and top-down. The bottom-up methodology targets the controller design for a specific embedded platform; the top-down methodology designs the controller keeping in mind that it is realized on an embedded platform with limited resources. As the Field Programmable Gate Array (FPGA - an embedded platform providing reconfigurability in hardware architecture) has gained popularity especially in robotic applications, the authors introduce the basics of FPGA and a methodology to design FPGA architecture."--