Chapter 6 Advanced Features Demonstration; Object Following And Obstacle Avoidance - Terasic DE10-Nano Getting Started Manual

Chapter 6 Advanced Features Demonstration

Based on the DE10-Nano SoC FPGA platform, Terasic's Self-Balancing Robot can
implement attitude algorithm, perform motion control, and execute movements
autonomously, such as moving forward, turning right & left, power monitoring, object
following and obstacle avoidance. Line following and obstacle avoidance are described
below.

Object Following and Obstacle Avoidance

6.1
One ultrasonic module is assembled on the robot, object following and obstacle avoidance
can be implemented with the module.
When the robot is in default mode and obstacle avoidance is on (SW0 & SW1 is on "10"
position, as shown in Table 4-1), if the ultrasonic sensor detects the obstacle is in front of
the robot and the distance is within 10 cm, the robot will stop automatically, which will
implement the obstacle avoidance function, as shown in Figure 6-1.
Figure 6-1 Obstacle avoidance demonstrate
When the robot is in object following and obstacle avoidance mode (SW0 & SW1 is on
"01" position, as shown in Table 4-1), and if the ultrasonic sensor detects the object is in
front of the robot and the distance is within 10 cm, the robot will automatically move
backward to avoiding object. When an object is in front of the ultrasonic module and moves
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