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research
FPGA Implementation of Embedded Fuzzy Controllers for Robotic Applications
Authors
María Iluminada Baturone Castillo
María Brox Jiménez
+3 more
Alejandro Cabrera
Francisco José Moreno Velo
Santiago Sánchez Solano
Publication date
1 January 2007
Publisher
'Institute of Electrical and Electronics Engineers (IEEE)'
Doi
Cite
Abstract
Fuzzy-logic-based inference techniques provide efficient solutions for control problems in classical and emerging applications. However, the lack of specific design tools and systematic approaches for hardware implementation of complex fuzzy controllers limits the applicability of these techniques in modern microelectronics products. This paper discusses a design strategy that eases the implementation of embedded fuzzy controllers as systems on programmable chips. The development of the controllers is carried out by means of a reconfigurable platform based on field-programmable gate arrays. This platform combines specific hardware to implement fuzzy inference modules with a general-purpose processor, thus allowing the realization of hybrid hardware/software solutions. As happens to the components of the processing system, the specific fuzzy elements are conceived as configurable intellectual property modules in order to accelerate the controller design cycle. The design methodology and tool chain presented in this paper have been applied to the realization of a control system for solving the navigation tasks of an autonomous vehicle. © 2007 IEEE.Ministerio de Educación y Ciencia TEC2005-04359/MIC y DPI2005-02293Junta de Andalucía TIC2006-635 y TEP2006-37
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Last time updated on 03/12/2017