1. Ktisis Cyprus University of Technology
  2. Cyprus University of Technology (Research Output)
  3. Άρθρα/Articles
Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.14279/8194
DC FieldValueLanguage
dc.contributor.authorTzafestas, Spyros G.-
dc.contributor.authorMoustris, George P.-
dc.contributor.authorDeliparaschos, Kyriakos M.-
dc.date.accessioned2016-01-18T09:44:38Z-
dc.date.available2016-01-18T09:44:38Z-
dc.date.issued2010-08-
dc.identifier.citationRobotics and Autonomous Systems, 2010, vol. 58, no. 8, pp. 1017-1027en_US
dc.identifier.issn09218890-
dc.identifier.urihttps://hdl.handle.net/20.500.14279/8194-
dc.description.abstractThis 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 Xilinx 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.en_US
dc.formatpdfen_US
dc.language.isoenen_US
dc.relation.ispartofRobotics and Autonomous Systemsen_US
dc.rights© Elsevieren_US
dc.subjectPath trackingen_US
dc.subjectFuzzy logicen_US
dc.subjectMobile robotsen_US
dc.subjectDigital fuzzy logic controller (DFLC)en_US
dc.subjectSystem-on-a-chip (SoC)en_US
dc.titleFuzzy logic path tracking control for autonomous non-holonomic mobile robots: design of system on a chipen_US
dc.typeArticleen_US
dc.collaborationNational Technical University Of Athensen_US
dc.collaborationCyprus University of Technologyen_US
dc.subject.categoryElectrical Engineering - Electronic Engineering - Information Engineeringen_US
dc.journalsSubscriptionen_US
dc.reviewPeer Revieweden
dc.countryGreeceen_US
dc.countryCyprusen_US
dc.subject.fieldEngineering and Technologyen_US
dc.publicationPeer Revieweden_US
dc.identifier.doi10.1016/j.robot.2010.03.014en_US
dc.dept.handle123456789/54en
dc.relation.issue8en_US
dc.relation.volume58en_US
cut.common.academicyear2010-2011en_US
dc.identifier.spage1017en_US
dc.identifier.epage1027en_US
item.fulltextNo Fulltext-
item.cerifentitytypePublications-
item.grantfulltextnone-
item.openairecristypehttp://purl.org/coar/resource_type/c_6501-
item.openairetypearticle-
item.languageiso639-1en-
crisitem.journal.journalissn0921-8890-
crisitem.journal.publisherElsevier-
crisitem.author.deptDepartment of Electrical Engineering, Computer Engineering and Informatics-
crisitem.author.facultyFaculty of Engineering and Technology-
crisitem.author.orcid0000-0003-0618-5846-
crisitem.author.parentorgFaculty of Engineering and Technology-
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