Fuzzy logic path tracking control for autonomous non-holonomic mobile robots: Design of System on a Chip

被引：35

作者：

Tzafestas, S. G. ^{[1
]}

Deliparaschos, K. M. ^{[1
]}

Moustris, G. P. ^{[1
]}

机构：

[1] Natl Tech Univ Athens, Sch Elect & Comp Engn, Intelligent Automat Syst Res Grp, GR-15773 Athens, Greece

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2010年 / 58卷 / 08期

关键词：

Path tracking; Fuzzy logic; Mobile robots; Digital Fuzzy Logic Controller (DFLC); System-on-a-Chip (SoC); IMPLEMENTATION;

D O I：

10.1016/j.robot.2010.03.014

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

080201 [机械制造及其自动化];

摘要：

This paper presents a System on Chip (SoC) for the path following task of autonomous non-holonomic mobile robots. The SoC consists of a parameterized Digital Fuzzy Logic Controller (DFLC) core and a flow control algorithm that runs under the Minx Microblaze soft processor core The fuzzy controller supports a fuzzy path tracking algorithm introduced by the authors The FPGA board hosting the SoC was attached to an actual differential-drive Pioneer 3-DX8 robot, which was used in field experiments in order to assess the overall performance of the tracking scheme. Moreover, quantization problems and limitations imposed by the system configuration are also discussed. (C) 2010 Elsevier B.V. All rights reserved

引用

页码：1017 / 1027

页数：11

共 16 条

[1]

*ACTIVMEDIA ROB, 2003, PION 3TM PION 2TM H8

[2]

Fuzzy Logic Microcontroller [J].