FPGA realization of mobile robot controller using fuzzy algorithm

Md. Shabiul Islam, Mukter Zaman, Anwarul Azim, Masuri Othman

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper describes a Fuzzy Logic Controller (FLC) algorithm for designing an autonomous mobile robot controller (MRC). The controller enables the robot to navigate in an unstructured environment and that avoid any encountered obstacles without human intervention. The autonomous mobile robot 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. The Fuzzy Logic algorithm 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 if not impossible 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 paper, the controller of an autonomous mobile robot is designed based on the theories of Fuzzy algorithm. The wheeled robot is able to navigate by itself in a completely unstructured environment. The codes of MRC has written for implementing the separate modules of the Fuzzifier, Fuzzy Rule Base, Inference mechanism and Defuzzifier as hardware blocks. A behavioral model of MRC algorithm is first developed in MATLAB platform with numerous data to evaluate its algorithm functionality. The development of MATLAB codes has converted into VHDL codes for hardware implementation. Comparison results between MATLAB and VHDL of MRC algorithm also have presented. Then the VHDL codes are synthesized to get MRC hardware blocks using synthesis tool, Quartus II from Altera environment. Finally the designed codes of MRC algorithm has been downloaded into FPGA board for verifying the functionality of algorithm for VLSI implementation.

Original languageEnglish
Title of host publicationProceedings of the 9th WSEAS International Conference on Automatic Control, Modeling and Simulation, ACMOS '07
Pages18-23
Number of pages6
Publication statusPublished - 2007
Externally publishedYes
Event9th WSEAS International Conference on Automatic Control, Modeling and Simulation, ACMOS '07 - Istanbul
Duration: 27 May 200729 May 2007

Other

Other9th WSEAS International Conference on Automatic Control, Modeling and Simulation, ACMOS '07
CityIstanbul
Period27/5/0729/5/07

Fingerprint

Mobile robots
Field programmable gate arrays (FPGA)
Controllers
Computer hardware description languages
MATLAB
Fuzzy logic
Hardware
Robots
Uncertain systems
Fuzzy rules
Navigation
Decision making
Mathematical models
Control systems

Keywords

  • FPGA
  • Fuzzy rules
  • Mobile robot controller
  • Navigation algorithm
  • Synthesis
  • VHDL

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

Cite this

Islam, M. S., Zaman, M., Azim, A., & Othman, M. (2007). FPGA realization of mobile robot controller using fuzzy algorithm. In Proceedings of the 9th WSEAS International Conference on Automatic Control, Modeling and Simulation, ACMOS '07 (pp. 18-23)

FPGA realization of mobile robot controller using fuzzy algorithm. / Islam, Md. Shabiul; Zaman, Mukter; Azim, Anwarul; Othman, Masuri.

Proceedings of the 9th WSEAS International Conference on Automatic Control, Modeling and Simulation, ACMOS '07. 2007. p. 18-23.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Islam, MS, Zaman, M, Azim, A & Othman, M 2007, FPGA realization of mobile robot controller using fuzzy algorithm. in Proceedings of the 9th WSEAS International Conference on Automatic Control, Modeling and Simulation, ACMOS '07. pp. 18-23, 9th WSEAS International Conference on Automatic Control, Modeling and Simulation, ACMOS '07, Istanbul, 27/5/07.
Islam MS, Zaman M, Azim A, Othman M. FPGA realization of mobile robot controller using fuzzy algorithm. In Proceedings of the 9th WSEAS International Conference on Automatic Control, Modeling and Simulation, ACMOS '07. 2007. p. 18-23
Islam, Md. Shabiul ; Zaman, Mukter ; Azim, Anwarul ; Othman, Masuri. / FPGA realization of mobile robot controller using fuzzy algorithm. Proceedings of the 9th WSEAS International Conference on Automatic Control, Modeling and Simulation, ACMOS '07. 2007. pp. 18-23
@inproceedings{8d977541e2984ae19923941cf0c6335e,
title = "FPGA realization of mobile robot controller using fuzzy algorithm",
abstract = "This paper describes a Fuzzy Logic Controller (FLC) algorithm for designing an autonomous mobile robot controller (MRC). The controller enables the robot to navigate in an unstructured environment and that avoid any encountered obstacles without human intervention. The autonomous mobile robot 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. The Fuzzy Logic algorithm 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 if not impossible 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 paper, the controller of an autonomous mobile robot is designed based on the theories of Fuzzy algorithm. The wheeled robot is able to navigate by itself in a completely unstructured environment. The codes of MRC has written for implementing the separate modules of the Fuzzifier, Fuzzy Rule Base, Inference mechanism and Defuzzifier as hardware blocks. A behavioral model of MRC algorithm is first developed in MATLAB platform with numerous data to evaluate its algorithm functionality. The development of MATLAB codes has converted into VHDL codes for hardware implementation. Comparison results between MATLAB and VHDL of MRC algorithm also have presented. Then the VHDL codes are synthesized to get MRC hardware blocks using synthesis tool, Quartus II from Altera environment. Finally the designed codes of MRC algorithm has been downloaded into FPGA board for verifying the functionality of algorithm for VLSI implementation.",
keywords = "FPGA, Fuzzy rules, Mobile robot controller, Navigation algorithm, Synthesis, VHDL",
author = "Islam, {Md. Shabiul} and Mukter Zaman and Anwarul Azim and Masuri Othman",
year = "2007",
language = "English",
isbn = "9789608457720",
pages = "18--23",
booktitle = "Proceedings of the 9th WSEAS International Conference on Automatic Control, Modeling and Simulation, ACMOS '07",

}

TY - GEN

T1 - FPGA realization of mobile robot controller using fuzzy algorithm

AU - Islam, Md. Shabiul

AU - Zaman, Mukter

AU - Azim, Anwarul

AU - Othman, Masuri

PY - 2007

Y1 - 2007

N2 - This paper describes a Fuzzy Logic Controller (FLC) algorithm for designing an autonomous mobile robot controller (MRC). The controller enables the robot to navigate in an unstructured environment and that avoid any encountered obstacles without human intervention. The autonomous mobile robot 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. The Fuzzy Logic algorithm 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 if not impossible 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 paper, the controller of an autonomous mobile robot is designed based on the theories of Fuzzy algorithm. The wheeled robot is able to navigate by itself in a completely unstructured environment. The codes of MRC has written for implementing the separate modules of the Fuzzifier, Fuzzy Rule Base, Inference mechanism and Defuzzifier as hardware blocks. A behavioral model of MRC algorithm is first developed in MATLAB platform with numerous data to evaluate its algorithm functionality. The development of MATLAB codes has converted into VHDL codes for hardware implementation. Comparison results between MATLAB and VHDL of MRC algorithm also have presented. Then the VHDL codes are synthesized to get MRC hardware blocks using synthesis tool, Quartus II from Altera environment. Finally the designed codes of MRC algorithm has been downloaded into FPGA board for verifying the functionality of algorithm for VLSI implementation.

AB - This paper describes a Fuzzy Logic Controller (FLC) algorithm for designing an autonomous mobile robot controller (MRC). The controller enables the robot to navigate in an unstructured environment and that avoid any encountered obstacles without human intervention. The autonomous mobile robot 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. The Fuzzy Logic algorithm 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 if not impossible 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 paper, the controller of an autonomous mobile robot is designed based on the theories of Fuzzy algorithm. The wheeled robot is able to navigate by itself in a completely unstructured environment. The codes of MRC has written for implementing the separate modules of the Fuzzifier, Fuzzy Rule Base, Inference mechanism and Defuzzifier as hardware blocks. A behavioral model of MRC algorithm is first developed in MATLAB platform with numerous data to evaluate its algorithm functionality. The development of MATLAB codes has converted into VHDL codes for hardware implementation. Comparison results between MATLAB and VHDL of MRC algorithm also have presented. Then the VHDL codes are synthesized to get MRC hardware blocks using synthesis tool, Quartus II from Altera environment. Finally the designed codes of MRC algorithm has been downloaded into FPGA board for verifying the functionality of algorithm for VLSI implementation.

KW - FPGA

KW - Fuzzy rules

KW - Mobile robot controller

KW - Navigation algorithm

KW - Synthesis

KW - VHDL

UR - http://www.scopus.com/inward/record.url?scp=56449094377&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=56449094377&partnerID=8YFLogxK

M3 - Conference contribution

SN - 9789608457720

SP - 18

EP - 23

BT - Proceedings of the 9th WSEAS International Conference on Automatic Control, Modeling and Simulation, ACMOS '07

ER -