Analog fuzzy robot motion planner

Research output: Contribution to conferencePaper

Abstract

A fully CMOS voltage mode analog fuzzy motion planner for real time navigation of a car-like robot in a dynamic environment is presented. The system based on a complex rule base is inspired by human capabilities and uses Takagi-Sugeno fuzzy inference for the rule evaluation. The system benefits from the analog design advantages of occupying a small silicon area, high speed and low power consumption. New accurate MAX and MIN circuits are introduced. The controller is simulated and verified by comparing the outputs of the design on SIMULINK with those from an analog implementation.
Original languageEnglish
Publication statusPublished - 2007
Event13th IEEE IFAC International Conference on Methods and Models in Automation and Robotics - Szczecin, Poland
Duration: 27 Aug 200730 Aug 2007

Conference

Conference13th IEEE IFAC International Conference on Methods and Models in Automation and Robotics
CountryPoland
CitySzczecin
Period27/08/0730/08/07

Keywords

  • fuzzy motion planner
  • car-like robot
  • Takagi-Sugeno fuzzy inference
  • Simulink

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  • Cite this

    Soraghan, J. J. (2007). Analog fuzzy robot motion planner. Paper presented at 13th IEEE IFAC International Conference on Methods and Models in Automation and Robotics, Szczecin, Poland.