GA-based Fuzzy System Design in FPGA for an Omni-directional Mobile Robot

Authors:
Ching-Chang Wong;Yu-Han Lin;Shin-An Lee;Cheng-Hsing Tsai
Affiliations:
Department of Electrical Engineering, Tamkang University, Tamsui, Taipei Hsien, Republic of China;Department of Electrical Engineering, Tamkang University, Tamsui, Taipei Hsien, Republic of China;Department of Electrical Engineering, Tamkang University, Tamsui, Taipei Hsien, Republic of China;Department of Electrical Engineering, Tamkang University, Tamsui, Taipei Hsien, Republic of China
Venue:
Journal of Intelligent and Robotic Systems
Year:
2005

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Abstract

In this paper, a method based on Genetic Algorithms (GA) is proposed to design a fuzzy system to control an omni-directional mobile robot so that it can move to any direction and spin at a rotating rate. In this method, an individual of the population in the GA-based method is used to automatically generate fuzzy sets of the premise and consequent parts of fuzzy system. A fitness function is proposed to guide the search procedure to select an appropriate parameter set of the fuzzy system such that the output of the fuzzy system can approach the output of data base established from the kinematics model of the three-wheeled mobile robot. The language of VHDL (Very high speed integrated circuit Hardware Description Language) is used to design the selected fuzzy system structure, and it is realized on a FPGA (Field Programmable Gate Array) chip to control this robot. The implemented omni-directional mobile robot can move to any direction and spin at a rotating rate according to the received commands from a wireless joystick, and some infra-red (IR) distance detectors are arranged so that it has the ability to avoid obstacles. Some simulation and experimental results are considered to illustrate that the proposed GA-based fuzzy system design method is available and effective for the omni-directional mobile robot control.