FPGA realization of a fuzzy based wheelchair controller

Md. Shabiul Islam, M. S. Bhuyan, Sawal Hamid Md Ali

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

This study describes a FPGA realization of a Fuzzy Logic Controller (FLC) algorithm for designing a Wheelchair Controller (WC). The controller enables the movement of wheelchair and makes brake in an unstructured environment by the WC sensor to avoid any encountered obstacles. The WC is found to be able to react to the environment appropriately during its navigation to avoid crashing with obstacles by turning to the proper angle while moving. To design the controller unit, a speed sensor and a distance sensor, etc. are placed in front of the wheelchair for its functionality. The numerous data is used to evaluate the algorithm which control an output signal for the brake-power using by the input signals of speed sensor and distance sensor. The FLC has proven a commendable solution in dealing with certain control problems when the situation is ambiguous. One of the main difficulties faced by conventional control systems is the inability to operate in a condition with incomplete and imprecise information. As the complexity of a situation increases, a traditional mathematical model will be difficult to implement. Fuzzy logic is a tool for modeling uncertain systems by facilitating common sense reasoning in decision-making in the absence of complete and precise information. In this study, the WC is designed based on the theories of fuzzy logic (such as fuzzifier, fuzzy rule base, inference mechanism and defuzzifier) and then simulated in MATLAB platform. The designed codes of WC also have written in VFfDL language for implementing the hardware blocks of the separate modules of the WC. The verified VHDL code of the WC has been synthesized using Quarrus II tool in Altera environment. Finally, the hardware designed codes have downloaded into FPGA board (APEX 20K200EF484) for the circuit's functionality verification. From the timing analyzer report during implementation into FPGA board, it is observed that the longest delay from the source pin "sel3" to destination pin "LED7SEG1" is 24.019 nsec. Hence, the maximum clock speed (fmax) of the wheelchair is 41.63 MHz. During the experiment, researchers have set the hardware working frequency in 40 MHz to be confirmed the reliability in working condition.

Original languageEnglish
Pages (from-to)442-448
Number of pages7
JournalResearch Journal of Applied Sciences
Volume8
Issue number9
DOIs
Publication statusPublished - 2013

Fingerprint

wheelchairs
Wheelchairs
Field programmable gate arrays (FPGA)
controllers
Controllers
Fuzzy logic
logic
sensors
Sensors
hardware
brakes
Hardware
Brakes
uncertain systems
hardware description languages
Computer hardware description languages
Uncertain systems
decision making
Fuzzy rules
navigation

Keywords

  • Dynthesis
  • Fpga
  • Fuzzy logic rules
  • Vhdl
  • Wheelchair controller

ASJC Scopus subject areas

  • General
  • Engineering(all)

Cite this

FPGA realization of a fuzzy based wheelchair controller. / Islam, Md. Shabiul; Bhuyan, M. S.; Md Ali, Sawal Hamid.

In: Research Journal of Applied Sciences, Vol. 8, No. 9, 2013, p. 442-448.

Research output: Contribution to journalArticle

Islam, Md. Shabiul ; Bhuyan, M. S. ; Md Ali, Sawal Hamid. / FPGA realization of a fuzzy based wheelchair controller. In: Research Journal of Applied Sciences. 2013 ; Vol. 8, No. 9. pp. 442-448.
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