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https://hdl.handle.net/20.500.14279/8194| 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. |
Major Field of Science: | Engineering and Technology | Field Category: | Electrical Engineering - Electronic Engineering - Information Engineering | Keywords: | Path tracking;Fuzzy logic;Mobile robots;Digital fuzzy logic controller (DFLC);System-on-a-chip (SoC) | Issue Date: | Aug-2010 | Source: | Robotics and Autonomous Systems, 2010, vol. 58, no. 8, pp. 1017-1027 | Volume: | 58 | Issue: | 8 | Start page: | 1017 | End page: | 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: | https://hdl.handle.net/20.500.14279/8194 | ISSN: | 09218890 | DOI: | 10.1016/j.robot.2010.03.014 | Rights: | © Elsevier | Type: | Article | Affiliation : | National Technical University Of Athens Cyprus University of Technology |
Publication Type: | Peer Reviewed |
| Appears in Collections: | Άρθρα/Articles |
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