Please use this identifier to cite or link to this item: http://ktisis.cut.ac.cy/handle/10488/8252
Title: Autonomous SoC for fuzzy robot path tracking
Authors: Moustris, George P. 
Tzafestas, Spyros G. 
Deliparaschos, Kyriakos M. 
Keywords: Non-holonomic mobile robots;Path tracking;Digital fuzzy logic processor (DFLP);System-on-a-chip (SoC);Intellectual property (IP) core
Category: Electrical Engineering - Electronic Engineering - Information Engineering
Field: Engineering and Technology
Issue Date: 2007
Source: European Control Conference, 2007, Kos, Greece, 2-5 July
Link: http://users.ntua.gr/kdelip/resources/pdf/Deliparaschos-et-al.---2007---Autonomous-SoC-for-Fuzzy-Robot-Path-Tracking.pdf
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.
URI: http://ktisis.cut.ac.cy/handle/10488/8252
Type: Conference Papers
Appears in Collections:Δημοσιεύσεις σε συνέδρια/Conference papers

Files in This Item:
File Description SizeFormat 
Deliparaschos.pdf611.62 kBAdobe PDFView/Open
Show full item record

Page view(s)

18
Last Week
0
Last month
1
checked on Nov 22, 2017

Download(s) 50

1
checked on Nov 22, 2017

Google ScholarTM

Check


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.