Design of Analog Fuzzy Controller for Autonomous Mobile Robot

被引：3
|
作者：
Kapse, Vinod [1 ]
Jharia, Bhavana [2 ]
Thakur, S. S. [3 ]
Gupta, C. P. [4 ]
机构：
[1] GyanGanga Inst Technol & Sci, Jabalpur 482002, Madhya Pradesh, India
[2] Ujjain Engn Coll, Ujjain, Madhya Pradesh, India
[3] Jabalpur Engn Coll, Jabalpur, Madhya Pradesh, India
[4] Indian Inst Technol, Roorkee, Uttarakhand, India
来源：
INTERNATIONAL JOURNAL OF UNCERTAINTY FUZZINESS AND KNOWLEDGE-BASED SYSTEMS | 2017年 / 25卷 / 03期
关键词：
analog; autonomous; obstacle; controller; MFLIPS;
D O I：
10.1142/S0218488517500209
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The analog fuzzy intelligent controllers for autonomous mobile robot to avoid static and dynamic obstacles in its local environment are presented. The controller designed for the robot is reconfigurable in nature in terms of number of rules in database i.e. flexibility for online rule change as per the frequency of obstacle in the local environment. The controller is proposed with adjustable membership function in terms of shape and degree of overlapping with dynamic rule base. New accurate MAX and MIN circuits are introduced. The controller is simulated using Tanner (R) tool. The two-input single-output fuzzy controller with 25 rules is implemented in 0.25 mu m CMOS technology. The maximum delay was found to be 9.915ns for the processing of 25 rules and the value of FLIPS was found to be 100.85 MFLIPS.
引用
收藏
页码：477 / 494
页数：18
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