Path Tracking and Obstacle Avoidance of a FPGA-based Mobile Robot (MRTQ) Via Fuzzy Algorithm

被引：0
|
作者：
Boroumand, Siavash [1 ]
Saboury, Arya [1 ]
Ravari, Ali [2 ]
Masouleh, Mehdi Tale [3 ]
Fakharian, Ahmad [1 ]
机构：
[1] Islamic Azad Univ, Qazvin Branch, Dept Mechatron, Qazvin, Iran
[2] Islamic Azad Univ, Semnan Branch, Dept Mechatron, Semnan, Iran
[3] Univ Tehran, Fac New Sci & Technol, Human & Robot Interact Lab, Taar Lab, Tehran 14174, Iran
来源：
2013 13TH IRANIAN CONFERENCE ON FUZZY SYSTEMS (IFSC) | 2013年
关键词：
Fuzzy Algorithm; MRTQ Robots; FPGA; Line Tracking; Obstacle Avoidance;
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：
In this paper, a fuzzy algorithm is implemented on a FPGA-based mobile robot, called MRTQ (Mobile Robot of University of Tehran & Qazvin Azad University)-which could be regarded as an embedded system-for line tracking and obstacle avoidance purposes. MRTQ is a mobile robot platform which is developed for industrial researches and education purposes. As the first step, for the sake of validity of the proposed fuzzy rules, 30 rules in total are envisaged. Then, preliminary simulations are implemented in MATLAB. Moreover, as the main contribution of this work, the foregoing rules are implemented on FPGA. Several practical tests reveal the effectiveness of the proposed fuzzy rules for which MRTQ was able to track the path more precisely and softly in different speeds and avoid the detected obstacle through the path readily.
引用
收藏
页数：5
相关论文
共 50 条
  • [1] Adaptive fuzzy control for mobile robot obstacle avoidance based on virtual line path tracking
    Li, Baoguo
    Zhang, Chunxi
    [J]. 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3, 2006, : 1454 - +
  • [2] Neuro-Fuzzy Algorithm for Obstacle Avoidance Mission of a Mobile Robot Using FPGA
    Wei, Chan Zhi
    Mahyuddin, Muhammad Nasiruddin
    [J]. 2009 CONFERENCE ON INNOVATIVE TECHNOLOGIES IN INTELLIGENT SYSTEMS AND INDUSTRIAL APPLICATIONS, 2009, : 305 - 310
  • [3] Obstacle Avoidance of Mobile Robot using Fuzzy Logic and Hybrid Obstacle Avoidance Algorithm
    Singh, R.
    Bera, T. K.
    [J]. 2ND INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHANTRONICS, 2019, 517
  • [4] Obstacle avoidance path planning algorithm for mobile robot based on improved RRT*
    Yang, Tao
    Li, ZhongJian
    Liu, Zhen
    Li, ZhiPeng
    [J]. 2022 9TH INTERNATIONAL FORUM ON ELECTRICAL ENGINEERING AND AUTOMATION, IFEEA, 2022, : 1144 - 1147
  • [5] FPGA-Based Fault-Tolerant Quadcopter with Fuzzy Obstacle Avoidance
    Abouelghit, Fady A.
    ElSayed, Hany
    Alkady, Gehad I.
    Amer, Hassanein H.
    Adly, Ihab
    [J]. 2019 8TH MEDITERRANEAN CONFERENCE ON EMBEDDED COMPUTING (MECO), 2019, : 106 - 109
  • [6] Genetic Algorithm Approach for Obstacle Avoidance and Path Optimization of Mobile Robot
    Mane, Sunil B.
    Vhanale, Sharan
    [J]. COMPUTING, COMMUNICATION AND SIGNAL PROCESSING, ICCASP 2018, 2019, 810 : 649 - 659
  • [7] Improved Dijkstra Algorithm for Mobile Robot Path Planning and Obstacle Avoidance
    Alshammrei, Shaher
    Boubaker, Sahbi
    Kolsi, Lioua
    [J]. CMC-COMPUTERS MATERIALS & CONTINUA, 2022, 72 (03): : 5939 - 5954
  • [8] Mobile robot path planning and obstacle avoidance using hybrid algorithm
    Mohanraj T.
    Dinesh T.
    Guruchandhramavli B.
    Sanjai S.
    Sheshadhri B.
    [J]. International Journal of Information Technology, 2023, 15 (8) : 4481 - 4490
  • [9] Target Tracking and Obstacle Avoidance for Mobile Robot based on Kinect
    Li, Mengxin
    Yin, Jiadi
    [J]. PROCEEDINGS OF THE 2015 3RD INTERNATIONAL CONFERENCE ON MACHINERY, MATERIALS AND INFORMATION TECHNOLOGY APPLICATIONS, 2015, 35 : 1116 - 1120
  • [10] Fuzzy Based Obstacle Avoidance System for Autonomous Mobile Robot
    Rusu, C. G.
    Birou, I. T.
    Szoke, E.
    [J]. PROCEEDINGS OF 2010 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION, QUALITY AND TESTING, ROBOTICS (AQTR 2010), VOLS. 1-3, 2010,
12345