FPGA-based fuzzy PK controller and image processing system for small-sized humanoid robot

Authors:
Yu-Te Su;Chun-Yang Hu;Tzuu-Hseng S. Li
Affiliations:
aiRobots Lab., Department of Electrical Eng., National Cheng Kung University, Tainan, Taiwan, R.O.C.;aiRobots Lab., Department of Electrical Eng., National Cheng Kung University, Tainan, Taiwan, R.O.C.;aiRobots Lab., Department of Electrical Eng., National Cheng Kung University, Tainan, Taiwan, R.O.C.
Venue:
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
Year:
2009

Citing 3
Cited 0

Circular arc detection based on Hough transform

Pattern Recognition Letters
An efficient randomized algorithm for detecting circles

Computer Vision and Image Understanding
Laplacian Operator-Based Edge Detectors

IEEE Transactions on Pattern Analysis and Machine Intelligence

Quantified Score

Hi-index	0.00

Visualization

Abstract

This paper mainly covers the development of a FPGA-based fuzzy controller and image processing system for a small-sized humanoid robot. All the computations are operated on an FPGA board including the real-time image processing and the fuzzy logic controller design for PK event in FIRA RoboWorld cup. At first, the specification of the hardware is introduced. The image processing is then employed for target recognition. The control strategy system for PK event is also developed. Finally the experiments are demonstrated to verify feasibility of the proposed control system