Title :
Autonomous SoC for fuzzy robot path tracking
Author :
Deliparaschos, Kyriakos M. ; Moustris, George P. ; Tzafestas, Spyros G.
Author_Institution :
Intell. Robot. & Autom. Lab., Nat. Tech. Univ. of Athens, Athens, Greece
Abstract :
In this paper a System-on-a-Chip (SoC) for the path following task of autonomous non-holonomic mobile robots is presented. The SoC consists of a digital fuzzy logic processor and a flow control program that runs under the Xilinx Microblaze™ soft processor core. The fuzzy processor implements a fuzzy path tracking algorithm introduced by the authors. The system was tied to an actual P3-DX8 robot and field experiments have been performed in order to assess the overall performance. Quantization problems and limitations imposed by the system configuration are also discussed.
Keywords :
control engineering computing; field programmable gate arrays; flow control; fuzzy control; fuzzy logic; mobile robots; path planning; system-on-chip; P3-DX8 robot; Xilinx Microblaze soft processor core; autonomous SoC; autonomous nonholonomic mobile robots; digital fuzzy logic processor; flow control program; fuzzy robot path tracking; path following task; quantization problems; system configuration; system-on-a-chip; Field programmable gate arrays; Fuzzy logic; IP networks; MATLAB; Robot kinematics; System-on-chip; Digital Fuzzy Logic Processor (DFLP); Intellectual Property (IP) core; Non-Holonomic Mobile Robots; Path Tracking; System-on-a-Chip (SoC);
Conference_Titel :
Control Conference (ECC), 2007 European
Conference_Location :
Kos
Print_ISBN :
978-3-9524173-8-6