Field programmable gate array-based robotic exploration of an indoor environment

We consider the problem of robotic exploration of an unknown indoor environment using a low-cost Field Programmable Gate Array (FPGA) on-board. The robot is equipped with four ultrasonic sensors and it navigates autonomously. Locations in the environment at which the robot could stand and gather sensor readings are identified. The proposed scheme is area and energy efficient. © 2006 IEEE.