FPGA-based fuzzy PK controller and image processing system for small-sized humanoid robot

Author

Su, Yu-Te ; Hu, Chun-Yang ; Li, Tzuu-Hseng S.

Author_Institution

Dept. of Electr. Eng., Nat. Cheng Kung Univ., Tainan, Taiwan

fYear

2009

fDate

11-14 Oct. 2009

Firstpage

1039

Lastpage

1044

Abstract

This paper mainly covers the development of a FPGA-based fuzzy controller and image processing system for a small-sized humanoid robot. All the computations are operated on an FPGA board including the real-time image processing and the fuzzy logic controller design for PK event in FIRA RoboWorld cup. At first, the specification of the hardware is introduced. The image processing is then employed for target recognition. The control strategy system for PK event is also developed. Finally the experiments are demonstrated to verify feasibility of the proposed control system.

Keywords

control system synthesis; field programmable gate arrays; fuzzy control; humanoid robots; image recognition; mobile robots; multi-robot systems; real-time systems; sport; FIRA RoboWorld cup; FPGA-based fuzzy PK event controller; control strategy system; fuzzy logic controller design; hardware specification; real-time image processing system; small-sized humanoid robot; target recognition; Control systems; Field programmable gate arrays; Fuzzy control; Fuzzy logic; Fuzzy systems; Hardware; Humanoid robots; Image processing; Process control; Target recognition;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 2009. SMC 2009. IEEE International Conference on

Conference_Location

San Antonio, TX

ISSN

1062-922X

Print_ISBN

978-1-4244-2793-2

Electronic_ISBN

1062-922X

Type

conf

DOI

10.1109/ICSMC.2009.5346012

Filename

5346012