Efficient FPGA Realization of CORDIC With Application to Robotic Exploration
Leena Vachhani, K. Sridharan, Pramod Kumar Meher · IEEE Transactions on Industrial Electronics · 2009
We present an area efficient method and field programmable gate array (FPGA) realization for two common operations in robotics, namely, the following: (1) rotating a vector in 2D and (2) aligning a vector in the plane with a specific axis. It is based on a new coordinate rotation digital computer (CORDIC) algorithm that is designed to work with a small set of elementary angles. Unlike conventional CORDIC, the proposed algorithm does not require a ROM and a full-fledged barrel shifter. The proposed CORDIC algorithm is used to designhardware efficientsolutions for two mobile robotic tasks in an indoor environmentwithout employing division and floating-point calculations. Experiments with asole low end FPGA basedrobot in static as well as dynamic environments validate the power of the approach.