FPGA realization of mobile robot controller using fuzzy algorithm


Islam, Md. Shabiul and Uz-Zaman, A.S. M. Mukter and Azim, Anwaru and Othman, Masuri (2007) FPGA realization of mobile robot controller using fuzzy algorithm. In: 9th WSEAS International Conference on Automatic Control, Modeling and Simulation, 27-29 MAY 2007, Istanbul, TURKEY.

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This paper describes a Fuzzy Logic Controller (FLC) algorithm for designing an autonomous mobile robot controller (MRC). The controller enables the robot to navigate in an unstructured environment and that avoid any encountered obstacles without human intervention. The autonomous mobile robot is found to be able to react to the environment appropriately during its navigation to avoid crashing with obstacles by turning to the proper angle while moving. The Fuzzy Logic algorithm has proven a commendable solution in dealing with certain control problems when the situation is ambiguous. One of the main difficulties faced by conventional control systems is the inability to operate in a condition with incomplete and imprecise information. As the complexity of a situation increases, a traditional mathematical model will be difficult if not impossible to implement. Fuzzy Logic is a tool for modeling uncertain systems by facilitating common sense reasoning in decision-making in the absence of complete and precise information. In this paper, the controller of an autonomous mobile robot is designed based on the theories of Fuzzy algorithm. The wheeled robot is able to navigate by itself in a completely unstructured environment. The codes of MRC has written for implementing the separate modules of the Fuzzifier, Fuzzy Rule Base, Inference mechanism and Defuzzifier as hardware blocks. A behavioral model of MRC algorithm is first developed in MATLAB platform with numerous data to evaluate its algorithm functionality. The development of MATLAB codes has converted into VHDL codes for hardware implementation. Comparison results between MATLAB and VHDL of MRC algorithm also have presented. Then the VHDL codes are synthesized to get MRC hardware blocks using synthesis tool, Quartus II from Altera environment. Finally the designed codes of MRC algorithm has been downloaded into FPGA board for verifying the functionality of algorithm for VLSI implementation.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Fuzzy rules, Mobile Robot Controller, Navigation algorithm, VHDL, Synthesis, FPGA
Subjects: T Technology > T Technology (General)
Q Science > QA Mathematics > QA71-90 Instruments and machines > QA75.5-76.95 Electronic computers. Computer science
Divisions: Faculty of Engineering (FOE)
Depositing User: Ms Suzilawati Abu Samah
Date Deposited: 07 Oct 2011 06:34
Last Modified: 16 Jan 2017 10:49
URII: http://shdl.mmu.edu.my/id/eprint/3174


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