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|Title:||Fuzzy logic path tracking control for autonomous non-holonomic mobile robots: design of system on a chip||Authors:||Tzafestas, Spyros G.
Moustris, George P.
Deliparaschos, Kyriakos M.
|Keywords:||Path tracking;Fuzzy logic;Mobile robots;Digital fuzzy logic controller (DFLC);System-on-a-chip (SoC)||Category:||Electrical Engineering - Electronic Engineering - Information Engineering||Field:||Engineering and Technology||Issue Date:||31-Aug-2010||Publisher:||Elsevier B.V.||Source:||Robotics and Autonomous Systems, 2010, Volume 58, Issue 8, Pages 1017-1027||Journal:||Robotics and Autonomous Systems||Abstract:||This 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.||URI:||http://ktisis.cut.ac.cy/handle/10488/8194||ISSN:||0921-8890||DOI:||10.1016/j.robot.2010.03.014||Rights:||© Elsevier B.V.||Type:||Article|
|Appears in Collections:||Άρθρα/Articles|
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