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

Authors:
S. G. Tzafestas;K. M. Deliparaschos;G. P. Moustris
Affiliations:
Intelligent Automation Systems Research Group, School of Electrical and Computer Engineering, National Technical University of Athens, Zographou Campus, Athens, GR 157 73, Greece;Intelligent Automation Systems Research Group, School of Electrical and Computer Engineering, National Technical University of Athens, Zographou Campus, Athens, GR 157 73, Greece;Intelligent Automation Systems Research Group, School of Electrical and Computer Engineering, National Technical University of Athens, Zographou Campus, Athens, GR 157 73, Greece
Venue:
Robotics and Autonomous Systems
Year:
2010

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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.