A Fuzzy Control for Obstacle Avoidance Implemented in the Wheel Robot with FPGA

被引：0
|
作者：
Chiu, Zheng-Kai [1 ]
Lee, Pei-Jun [1 ]
机构：
[1] Natl Chi Nan Univ, Elect Engn Dept, Nantou, Taiwan
来源：
2017 INTERNATIONAL CONFERENCE ON SYSTEM SCIENCE AND ENGINEERING (ICSSE) | 2017年
关键词：
Fuzzy control; Obstacle avoidance; Wheel Robot; FPGA;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper designs and fabricates an intelligent wheel robot which can walking and avoid obstacles autonomously. The obstacle avoidance is achieved by using fuzzy control technique. In order to turn angle rapidly for the wheel robot, we adopt three distance value and turning angle in last state between the obstacle and robot to design the fuzzy sets. According to the results of the simulation and practical experiment, the path of obstacle avoidance by using fuzzy control is much smoother than that by using intuitive control. All the above motion controls are implemented by Altera DE2-115 FPGA board with some useful sensors.
引用
收藏
页码：95 / 98
页数：4
相关论文
共 50 条
  • [1] Fuzzy logic control of an obstacle avoidance robot
    Lian, SH
    FUZZ-IEEE '96 - PROCEEDINGS OF THE FIFTH IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-3, 1996, : 26 - 30
  • [2] FUZZY CONTROL OF A MOBILE ROBOT FOR OBSTACLE AVOIDANCE
    TAKEUCHI, T
    NAGAI, Y
    ENOMOTO, N
    INFORMATION SCIENCES, 1988, 45 (02) : 231 - 248
  • [3] Fuzzy control of humanoid robot for obstacle avoidance
    Wong, Cbing-Chang
    Cheng, Chi-Tai
    Huang, Kai-Hsiang
    Yang, Yu-Ting
    INTERNATIONAL JOURNAL OF FUZZY SYSTEMS, 2008, 10 (01) : 1 - 10
  • [4] Neuro-Fuzzy Algorithm implemented in Altera's FPGA for Mobile Robot's Obstacle Avoidance Mission
    Mahyuddin, Muhammad Nasiruddin
    Wei, Chan Zhi
    Arshad, Mohd Rizal
    TENCON 2009 - 2009 IEEE REGION 10 CONFERENCE, VOLS 1-4, 2009, : 1139 - 1144
  • [5] FPGA Based Fuzzy Control Technique for Obstacle Avoidance
    Kapse, Vinod
    Jharia, Bhavana
    Thakur, S. S.
    TENCON 2017 - 2017 IEEE REGION 10 CONFERENCE, 2017, : 1245 - 1250
  • [6] The Study Of Robot Obstacle Avoidance Based On Fuzzy Control
    Li, Shixiong
    Yuan, Qiang
    Applied Decisions in Area of Mechanical Engineering and Industrial Manufacturing, 2014, 577 : 386 - 389
  • [7] Obstacle avoidance of a mobile robot using fuzzy logic control
    Eshtawie, MAM
    Hasan, M
    Mariun, N
    Ramli, AR
    ADVANCES IN INTELLIGENT SYSTEMS: THEORY AND APPLICATIONS, 2000, 59 : 197 - 202
  • [8] Neuro-Fuzzy Algorithm for Obstacle Avoidance Mission of a Mobile Robot Using FPGA
    Wei, Chan Zhi
    Mahyuddin, Muhammad Nasiruddin
    2009 CONFERENCE ON INNOVATIVE TECHNOLOGIES IN INTELLIGENT SYSTEMS AND INDUSTRIAL APPLICATIONS, 2009, : 305 - 310
  • [9] Study on obstacle avoidance for intelligent robot based on hierarchical fuzzy control
    Yang-zhi, Sun
    Shi-de, Xiao
    Meng-jie, Hao
    Shao-fei, Pan
    2015 IEEE INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (CYBER), 2015, : 525 - 528
  • [10] Fuzzy Obstacle Avoidance Control of A Two-Wheeled Mobile Robot
    Chiu, Chian-Song
    Chiang, Teng-Shung
    Ye, Yu-Ting
    2015 INTERNATIONAL AUTOMATIC CONTROL CONFERENCE (CACS), 2015, : 1 - 6
12345