Paper Info
Title
Design of Embedded DSP-Based Fuzzy Controllers for Autonomous Mobile Robots
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.
Year
DOI
Venue
2008
10.1109/TIE.2007.896547
IEEE Transactions on Industrial Electronics
Keywords
Field
DocType
control system CAD,digital signal processing chips,embedded systems,fuzzy control,mobile robots,Texas instruments,Xfuzzy 3,autonomous mobile robots,autonomous robot ROMEO 4R,embedded DSP-based fuzzy controller design,stand-alone card,standard digital signal processor,Autonomous robots,CAD tools,DSPs,Embedded systems,Fuzzy controllers,autonomous robots,computer-aided design (CAD) tools,digital signal processors (DSPs),embedded systems,fuzzy controllers
Robot control,Control theory,Defuzzification,Fuzzy logic,Fuzzy set,Control engineering,Engineering,Fuzzy control system,Autonomous robot,Mobile robot
Journal
Volume
Issue
ISSN
55
2
0278-0046
Citations 
PageRank 
References 
27
1.79
12
Authors
4
Name
Order
Citations
PageRank
Iluminada Baturone114923.70
Moreno-Velo, F.J.2362.91
V�ctor Blanco3271.79
Joaqu�n Ferruz4271.79