Autonomous SoC for fuzzy robot path tracking
Date Issued
July 2007
DOI
10.23919/ECC.2007.7068806
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.
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