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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: Jul-2007
Source: European Control Conference, 2007, Kos, Greece, 2-5 July
Conference: European Control Conference 
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.
ISBN: 978-395241738-6
DOI: 10.23919/ECC.2007.7068806
Rights: IEEE
Type: Conference Papers
Appears in Collections:Δημοσιεύσεις σε συνέδρια/Conference papers

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