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

Tzafestas, SG; Deliparaschos, KM; Moustris, GP

dc.contributor.author	Tzafestas, SG	en
dc.contributor.author	Deliparaschos, KM	en
dc.contributor.author	Moustris, GP	en
dc.date.accessioned	2014-03-01T01:33:34Z
dc.date.available	2014-03-01T01:33:34Z
dc.date.issued	2010	en
dc.identifier.issn	0921-8890	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/20460
dc.subject	Digital Fuzzy Logic Controller (DFLC)	en
dc.subject	Fuzzy logic	en
dc.subject	Mobile robots	en
dc.subject	Path tracking	en
dc.subject	System-on-a-Chip (SoC)	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Computer Science, Artificial Intelligence	en
dc.subject.classification	Robotics	en
dc.subject.other	FPGA boards	en
dc.subject.other	Fuzzy controllers	en
dc.subject.other	Fuzzy logic controllers	en
dc.subject.other	In-field	en
dc.subject.other	Logic path	en
dc.subject.other	Non-holonomic mobile robots	en
dc.subject.other	Parameterized	en
dc.subject.other	Path following	en
dc.subject.other	Path tracking	en
dc.subject.other	Soft processor cores	en
dc.subject.other	System configurations	en
dc.subject.other	System on chips	en
dc.subject.other	System-on-a-chip	en
dc.subject.other	Tracking scheme	en
dc.subject.other	Algorithms	en
dc.subject.other	Application specific integrated circuits	en
dc.subject.other	Controllers	en
dc.subject.other	Fuzzy systems	en
dc.subject.other	Machine design	en
dc.subject.other	Microprocessor chips	en
dc.subject.other	Mobile robots	en
dc.subject.other	Navigation	en
dc.subject.other	Programmable logic controllers	en
dc.subject.other	Fuzzy logic	en
dc.title	Fuzzy logic path tracking control for autonomous non-holonomic mobile robots: Design of System on a Chip	en
heal.type	journalArticle	en
heal.identifier.primary	10.1016/j.robot.2010.03.014	en
heal.identifier.secondary	http://dx.doi.org/10.1016/j.robot.2010.03.014	en
heal.language	English	en
heal.publicationDate	2010	en
heal.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. © 2010 Elsevier B.V. All rights reserved.	en
heal.publisher	ELSEVIER SCIENCE BV	en
heal.journalName	Robotics and Autonomous Systems	en
dc.identifier.doi	10.1016/j.robot.2010.03.014	en
dc.identifier.isi	ISI:000280511200008	en
dc.identifier.volume	58	en
dc.identifier.issue	8	en
dc.identifier.spage	1017	en
dc.identifier.epage	1027	en