1. Design of embedded DSP-based fuzzy controllers for autonomous mobile robots
- Author
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Baturone, Iluminada, Moreno-Velo, Francisco J., Blanco, Victor, and Ferruz, Joaquin
- Subjects
Mobile robots -- Design and construction ,Mobile robots -- Control ,Fuzzy algorithms -- Research ,Fuzzy logic -- Research ,Fuzzy systems -- Research ,Computer-aided design -- Equipment and supplies ,Embedded systems -- Design and construction ,Embedded systems -- Equipment and supplies ,Digital signal processors -- Design and construction ,Fuzzy logic ,Embedded system ,System on a chip ,Digital signal processor ,Business ,Computers ,Electronics ,Electronics and electrical industries - Abstract
Fuzzy controllers are used in many applications because of their rapid design by translating heuristic knowledge, robustness against perturbations, and smoothness in the control action. However, they require parallel processing and special operators (such as fuzzification or defuzzification) which are not available in standard digital signal processors (DSPs), thus complicating their direct implementation. This paper describes an efficient design methodology that allows starting with any kind of fuzzy controller and subsequently transforming it until a system suitable for easy DSP implementation is obtained. Such methodology is greatly aided by the design environment Xfuzzy 3. The parking problem of an autonomous robot is described to illustrate the steps of this methodology. Real experiments with the autonomous robot ROMEO 4R demonstrate efficiency of the designed fuzzy controller embedded into a stand-alone card based on a fixed-point DSP from Texas Instruments. Index Terms--Autonomous robots, computer-aided design (CAD) tools, digital signal processors (DSPs), embedded systems, fuzzy controllers.
- Published
- 2008