Path tracking and obstacle avoidance of a FPGA-based mobile robot (MRTQ) via fuzzy algorithm

In this paper, a fuzzy algorithm is implemented on a FPGA-based mobile robot, called MRTQ (Mobile Robot of University of Tehran & Qazvin Azad University)-which could be regarded as an embedded system-for line tracking and obstacle avoidance purposes. MRTQ is a mobile robot platform which is developed for industrial researches and education purposes. As the first step, for the sake of validity of the proposed fuzzy rules, 30 rules in total are envisaged. Then, preliminary simulations are implemented in MATLAB. Moreover, as the main contribution of this work, the foregoing rules are implemented on FPGA. Several practical tests reveal the effectiveness of the proposed fuzzy rules for which MRTQ was able to track the path more precisely and softly in different speeds and avoid the detected obstacle through the path readily.