Autonomous SoC for fuzzy robot path tracking

Switching fuzzy tracking control for mobile robots under curvature constraints

“…The aim of the tracker is to navigate the robot on the path, accounting for disturbances in the moving phase, e.g., wheel slippage, uneven terrain, localization uncertainty, etc. The study of path tracking has produced a vast amount of research literature ranging from classical control approaches (Altafini, 1999;Kamga & Rachid, 1997;Kanayama & Fahroo, 1997), to nonlinear control methodologies (Altafini, 2002;Egerstedt, Hu, & Stotsky, 1998;Koh & Cho, 1994;Samson, 1995;Wit, Crane, & Armstrong, 2004) to intelligent control strategies (Abdessemed, Benmahammed, & Monacelli, 2004;Antonelli, Chiaverini, & Fusco, 2007;Baltes & Otte, 1999;Cao & Hall, 1998;Deliparaschos, Moustris, & Tzafestas, 2007;El Hajjaji & Bentalba, 2003;Lee, Lam, Leung, & Tam, 2003;Liu & Lewis, 1994;Maalouf, Saad, & Saliah, 2006;Moustris & Tzafestas, 2005;Rodríguez-Castañ o, Heredia, & Ollero, 2000;Sanchez, Ollero, & Heredia, 1997;Xinxin, Kezhong, Muhe, & Bo, 1998). Of course, boundaries often blend since various approaches are used simultaneously.…”

“…Fuzzy logic path trackers have been used by several researchers (Abdessemed et al, 2004;Antonelli et al, 2007;Baltes & Otte, 1999;Cao & Hall, 1998;Deliparaschos et al, 2007;El Hajjaji & Bentalba, 2003;Jiangzhou, Sekhavat, & Laugier, 1999;Lee et al, 2003;Liu & Lewis, 1994;Moustris & Tzafestas, 2005;Ollero, Garcia-Cerezo, Martinez, & Mandow, 1997;Raimondi & Ciancimino, 2008;Rodríguez-Castañ o et al, 2000;Sanchez et al, 1997) since fuzzy logic provides a more intuitive way of analyzing and formulating the control actions, which bypasses most of the mathematical load needed to tackle such a highly nonlinear control problem. Furthermore, the fuzzy controller, that can be less complex in its implementation, is inherently robust to noise and parameter uncertainties.…”

Feedback Equivalence and Control of Mobile Robots Through a Scalable FPGA Architecture

“…The original Fuzzy Logic tracker is described in (Moustris & Tzafestas, 2005), and further modified in (Deliparaschos et al, 2007) in order to be implemented on a FPGA. Specifically the tracker is a zero-order Takagi-Sugeno FLC with the two inputs partitioned in nine triangular membership functions each, while the output is partitioned in five singletons (Fig.…”

“…Of course, boundaries often blend since various approaches are used simultaneously. Fuzzy logic path trackers have been used by several researchers (Abdessemed et al, 2004;Antonelli et al, 2007;Baltes & Otte, 1999;Cao & Hall, 1998;Deliparaschos et al, 2007;El Hajjaji & Bentalba, 2003;Jiangzhou et al, 1999;Lee et al, 2003;Liu & Lewis, 1994;Moustris & Tzafestas, 2011;Ollero et al, 1997;Raimondi & Ciancimino, 2008;Rodriguez-Castano et al, 2000;Sanchez et al, 1997) since fuzzy logic provides a more intuitive way for analysing and formulating the control actions, which bypasses most of the mathematical load needed to tackle such a highly nonlinear control problem. Furthermore, the fuzzy controller, which can be less complex in its implementation, is inherently robust to noise and parameter uncertainties.…”

“…By the Frobenius theorem, if ∆ is the distribution spanned by the two vector fields of Σ, the system is holonomic if ∆ is involutive under Lie bracketing, a condition that is not satisfied by (1). Due to these challenges, the path following problem has been attacked by several researchers from many angles, ranging from classical control approaches (Altafini, 1999;Kamga & Rachid, 1997;Kanayama & Fahroo, 1997), to nonlinear control methodologies (Altafini, 2002;Egerstedt et al, 1998;Koh & Cho, 1994;Samson, 1995;Wit et al, 2004) to intelligent control strategies (Abdessemed et al, 2004;Antonelli et al, 2007;Baltes & Otte, 1999;Cao & Hall, 1998;Deliparaschos et al, 2007;El Hajjaji & Bentalba, 2003;Lee et al, 2003;Liu & Lewis, 1994;Maalouf et al, 2006;Moustris & Tzafestas, 2005;Rodriguez-Castano et al, 2000;Sanchez et al, 1997;Yang et al, 1998). Of course, boundaries often blend since various approaches are used simultaneously.…”