Please use this identifier to cite or link to this item:
https://hdl.handle.net/20.500.14279/8252
Title: | Autonomous SoC for fuzzy robot path tracking |
Authors: | Moustris, George P. Tzafestas, Spyros G. Deliparaschos, Kyriakos M. |
metadata.dc.contributor.other: | Δεληπαράσχος, Κυριάκος |
Major Field of Science: | Engineering and Technology |
Field Category: | Electrical Engineering - Electronic Engineering - Information Engineering |
Keywords: | Non-holonomic mobile robots;Path tracking;Digital fuzzy logic processor (DFLP);System-on-a-chip (SoC);Intellectual property (IP) core |
Issue Date: | Jul-2007 |
Source: | European Control Conference, 2007, Kos, Greece, 2-5 July |
Link: | http://users.ntua.gr/kdelip/resources/pdf/Deliparaschos-et-al.---2007---Autonomous-SoC-for-Fuzzy-Robot-Path-Tracking.pdf |
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 |
Affiliation : | National Technical University Of Athens |
Publication Type: | Peer Reviewed |
Appears in Collections: | Δημοσιεύσεις σε συνέδρια /Conference papers or poster or presentation |
Files in This Item:
File | Description | Size | Format | |
---|---|---|---|---|
Deliparaschos.pdf | 611.62 kB | Adobe PDF | View/Open |
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