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Implementation of a Multi-Layered Fuzzy Controller on an FPGA

Khatra, Ajit Paal Singh
http://rave.ohiolink.edu/etdc/view?acc_num=wright1153505966

Abstract Details

2006, Master of Science in Engineering (MSEgr), Wright State University, Electrical Engineering.
The uses of Autonomous Mobile robots range from the teleoperated Sojourner on the Mars Pathfinder mission to cleaning robots in the Paris Metro. They have overtaken tasks which are too difficult or dangerous to perform or require the repetition of the same procedure over and over again and can become dull for a human to perform. The objective of this thesis is to develop and implement a multilayered fuzzy controller on an FPGA for the navigational control of an autonomous mobile robot (AMR). The navigational algorithm assists the robot in navigating through complex environments of passages and hallways. The FPGA implementation of the navigational algorithm employs a layered fuzzy control strategy where a control model is developed using three elementary layers of control: Centering Layer, Wall Hugging Layer, and Obstacle Avoidance Layer. The centering layer is used to control the robot motion through a passage with both walls within the range of robot side sensors. In such a scenario, this layer directs the robot to the center of the passage. If the side sensors for the robot detect wall only on one side, wall hugging layer is activated and the robot moves parallel to the side wall. These two layers are developed using a proportional-plus-derivative fuzzy controller and share the fuzzy sets and the rule base. The obstacle avoidance layer prevents the collision of the robot with objects and is activated if the front sensor detects an obstacle within a preset distance.
Kuldip Rattan (Advisor)
160 p.
downto; Data4; Data5; Data6; Data7; dis; robots

Recommended Citations

Citations

  • Khatra, A. P. S. (2006). Implementation of a Multi-Layered Fuzzy Controller on an FPGA [Master's thesis, Wright State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=wright1153505966

    APA Style (7th edition)

  • Khatra, Ajit. Implementation of a Multi-Layered Fuzzy Controller on an FPGA. 2006. Wright State University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=wright1153505966.

    MLA Style (8th edition)

  • Khatra, Ajit. "Implementation of a Multi-Layered Fuzzy Controller on an FPGA." Master's thesis, Wright State University, 2006. http://rave.ohiolink.edu/etdc/view?acc_num=wright1153505966

    Chicago Manual of Style (17th edition)

wright1153505966
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© 2006, all rights reserved.
This open access ETD is published by Wright State University and OhioLINK.
Release 3.2.12