Journal ArticleDOI
Implementation of human-like driving skills by autonomous fuzzy behavior control on an FPGA-based car-like mobile robot
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In this paper, the concepts of car maneuvers, fuzzy logic control (FLC), and sensor-based behaviors are merged to implement the human-like driving skills by an autonomous car-like mobile robot (CLMR).Abstract:
In this paper, the concepts of car maneuvers, fuzzy logic control (FLC), and sensor-based behaviors are merged to implement the human-like driving skills by an autonomous car-like mobile robot (CLMR). Four kinds of FLCs, fuzzy wall-following control, fuzzy corner control, fuzzy garage-parking control, and fuzzy parallel-parking control, are synthesized to accomplish the autonomous fuzzy behavior control (AFBC). Computer simulation results illustrate the effectiveness of the proposed control schemes. The setup of the CLMR is provided, where the implementation of the AFBC on a field-programmable gate array chip is also addressed. Finally, the real-time implementation experiments of the CLMR in the test ground demonstrate the feasibility in practical car maneuvers.read more
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Journal ArticleDOI
FPGA Design Methodology for Industrial Control Systems—A Review
Eric Monmasson,Marcian Cirstea +1 more
TL;DR: This paper reviews the state of the art of field- programmable gate array (FPGA) design methodologies with a focus on industrial control system applications and presents three main design rules, algorithm refinement, modularity, and systematic search for the best compromise between the control performance and the architectural constraints.
Journal ArticleDOI
Features, Design Tools, and Application Domains of FPGAs
TL;DR: This paper surveys the advanced features, design tools, and application domains for field-programmable gate arrays (FPGAs), and presents the authors' prospective view of how FPGAs will evolve to enter new application domains in the future.
Journal ArticleDOI
A Fuzzy-Logic-Based Approach for Mobile Robot Path Tracking
TL;DR: This paper proposes a path following approach based on a fuzzy-logic set of rules which emulates the human driving behavior, and two completely different experiments show the effectiveness of the proposed algorithm.
Journal ArticleDOI
Design and Implementation of Fuzzy Control on a Two-Wheel Inverted Pendulum
TL;DR: This paper introduces the design and implementation of a two-wheel inverted pendulum (TWIP) system with a fuzzy control scheme and the system-on-a-programmable-chip (SoPC) technology.
Journal ArticleDOI
Mobile Robot Navigation and Obstacle Avoidance Techniques: A Review
TL;DR: The present article focuses on the study of the intelligent navigation techniques, which are capable of navigating a mobile robot autonomously in static as well as dynamic environments.
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