FPGA Based Real Time Embedded Color Tracking Mobile Robot

Abstract

Object tracking is an important task in CMOS camera and color tracking robot. For object tracking, a camera is often utilized to obtain information of construction vehicle motion which can then be employed in coordination controls. Therefore FPGA technology is applied to the prototypical tracking system for vehicles by using a CMOS camera to detect their color tags. We designed the proposed an architecture using VHDL and implementing the design in a Diligent Nexys2 FPGA. FPGA circuit presented in this paper can track a solid color object in a scene when it receives as input a digitized PAL/NTSC stream. Then we capture the video from a camera, process it on FPGA and then display it on a 3.2׳ display.