Fuzzy logic path tracking control for autonomous non-holonomic mobile robots: Design of System on a Chip

Robotics and Autonomous Systems

Volumn 58, Issue 8, 2010, Pages 1017-1027

  Tzafestas, S G ^a   Deliparaschos, K M ^a   Moustris, G P ^a  

^a NATIONAL TECHNICAL UNIVERSITY OF ATHENS   (Greece)

Author keywords

Digital Fuzzy Logic Controller (DFLC); Fuzzy logic; Mobile robots; Path tracking; System on a Chip (SoC)

Indexed keywords

APPLICATION SPECIFIC INTEGRATED CIRCUITS; COMPUTER CIRCUITS; CONTROLLERS; FUZZY LOGIC; MACHINE DESIGN; MICROPROCESSOR CHIPS; MOBILE ROBOTS; NAVIGATION; PROGRAMMABLE LOGIC CONTROLLERS; ROBOTS; SYSTEM-ON-CHIP;

DIFFERENTIAL DRIVE; FUZZY LOGIC CONTROLLERS; NON-HOLONOMIC MOBILE ROBOTS; PATH TRACKING; SOFT PROCESSOR CORES; SYSTEM CONFIGURATIONS; SYSTEM ON A CHIP; SYSTEM ON CHIPS (SOC);

INTEGRATED CIRCUIT DESIGN;

EID: 79952444818     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2010.03.014     Document Type: Article

References (16)

1. K.M. Deliparaschos, F.I. Nenedakis, S.G. Tzafestas, Design and implementation of a fast digital fuzzy logic controller using FPGA technology, Journal of Intelligent and Robotics Systems 45 (1) (2006) 77-96. (Pubitemid 43848138)
2. K.M. Deliparaschos, S.G. Tzafestas, A parameterized T-S digital fuzzy logic processor: soft core VLSI design and FPGA implementation, International Journal of Factory Automation, Robotics and Soft Computing 3 (2006) 7-15.
3. P. Leong, K. Tsoi, Field Programmable Gate Array technology for robotics applications, in: Proceedings of the 2005 IEEE International Conference on Robotics and Biomimetics, 2005, pp. 295-298. (Pubitemid 46499597)
4. A. Kongmunvattana, P. Chongstivatana, A FPGA-based behavioral control system for a mobile robot, in: Proceedings of the 1998 IEEE Asia-Pacific Conference on Circuits and Systems, Chiangmai, Thailand, pp. 759-762, 1998, ISBN: 0-7803-5146-0.
5. T. Li, S. Chang, Y. Chen, Implementation of human-like driving skills by autonomous fuzzy behavior control on an FPGA-based car-like mobile robot, IEEE Transactions on Industrial Electronics 50 (5) (2003) 867-880.
6. R. Reynolds, P. Smith, L. Bell, H. Keller, The design of Mars Lander cameras for Mars Pathfinder, Mars Surveyor '98 and Mars Surveyor '01, IEEE Transactions on Instrumentation and Measurement 50 (1) (2001) 63-71.
7. V. Salapura, A fuzzy RISC processor, IEEE Transactions on Fuzzy Systems 8 (6) (2000) 781-790. (Pubitemid 33777806)
8. L. Fortuna, M.L. Presti, C. Vinci, A. Cucuccio, Recent trends in fuzzy control of electrical drives: an industry point of view, in: Proceedings of the 2003 International Symposium on Circuits and Systems, vol. 3, 2003, pp. 459-461.
9. A. Costa, A.D. Gloria, F. Giudici, M. Olivieri, Fuzzy logic microcontroller, IEEE Micro 17 (1) (1997) 66-74. (Pubitemid 127571634)
10. D.L. Hung, Dedicated digital fuzzy hardware, IEEE Micro 15 (4) (1995) 31-39.
11. G. Moustris, S.G. Tzafestas, A robust fuzzy logic path tracker for non holonomic mobile robots, International Journal on Artificial Intelligence Tools 14 (6) (2005) 935-965. (Pubitemid 44099523)
12. ActivMedia Robotics, Pioneer 3TM & Pioneer 2TM H8-Series Operations Manual, 2003.
13. L.E. Dubins, On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents, American Journal of Mathematics 79 (3) (1957) 497-516.
14. Xilinx, Microblaze Processor Reference Guide. UG081 (v6.0), URL: http://www.xilinx.com/support/documentation/sw-manuals/edk82i-mb-ref-guide.pdf, 2006.
15. J.L. Hennessy, D.A. Patterson, Computer architecture : a quantitative approach, 2nd ed., Morgan Kaufmann Publishers, San Francisco, CA, 1995.
16. Xilinx, Connecting Customized IP to the MicroBlaze Soft Processor Using the Fast Simplex Link (FSL) Channel, XAPP529 (v1.3), URL: http://www.xilinx.com/ support/documentation/application-notes/xapp529.pdf, 2009.