This is great mobile robot project that was created and described by Jidan Al-Eryani in Masters Thesis. This is full Master Thesis with deep analysis and testing that may be interesting to read as it includes various areas like designing power, control and intelligence modules where one MCU wouldn’t be effective.
Project uses AVR Atmega128L microcontroller for performing basic functions like PC interfacing, Motion control, FPGA configuration, memory interfacing. All intelligence is left to FPGA Spartan-3 XC3S400-TQ144 which may be used for image recognition, machine learning and more. Have a nice reading.