B. Hardware Results
To test the hardware implementation we used the same
maps that were used for the software implementation. The
system was tested several times to verify its reliability.
The path found after BF algorithm execution was displayed
on the monitor and was photographed in different stages of
evolution. We used these pictures to compare them with the
results from the software implementation.
The path is also saved in a file on the computer, after
transferred through the serial port, and is used in the
navigation system of the mobile robot.
At the beginning, after running Xilinx Synthesis software
for our hardware implementation, the report indicated a
maximal working frequency of 185 MHz (clock period: 5.4
ns).