Design of embedded DSP-based fuzzy controllers for autonomous robots

Description

Fuzzy controllers are used in many applications because of their rapid design by translating heuristic knowledge, robustness against perturbations, and smoothness in the control action. However, they require parallel processing and special operators (such as fuzzification or defuzzification) which are not available in standard digital signal processors (DSPs), thus complicating their direct implementation. This paper describes an efficient design methodology that allows starting with any kind of fuzzy controller and subsequently transforming it until a system suitable for easy DSP implementation is obtained. Such methodology is greatly aided by the design environment Xfuzzy 3. The parking problem of an autonomous robot is described to illustrate the steps of this methodology. Real experiments with the autonomous robot ROMEO 4R demonstrate efficiency of the designed fuzzy controller embedded into a stand-alone card based on a fixed-point DSP from Texas Instruments.

Abstract

Comisión Interministerial de Ciencia y Tecnología DPI2005-02293 y TEC2005-04359

Abstract

Junta de Andalucía TIC2006-635 y TEP2006-375

Additional details