Design of cMOS analog proportional navigation method based fuzzy controller for car like robot

M.M. El-Khatib, D.J. Hamilton, J.J. Soraghan

Research output: Contribution to conferencePaper

Abstract

A fully CMOS analog fuzzy controller for real time navigation of a car-like robot based on proportional navigation method using voltage mode for input and output signals is presented. The system uses an intelligent combination of two behaviours to cope with obstacle avoidance and goal approaching using a proportional navigation path accounting for car-like robot kinematics. 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
LanguageEnglish
Number of pages6
Publication statusPublished - 2006
EventASP 2006 - , United Kingdom
Duration: 1 Jan 20061 Jan 2006

Conference

ConferenceASP 2006
CountryUnited Kingdom
Period1/01/061/01/06

Fingerprint

Navigation
Railroad cars
Robots
Controllers
Collision avoidance
Kinematics
Electric power utilization
Silicon
Networks (circuits)
Electric potential

Keywords

  • design
  • cmos analog
  • proportional navigation
  • fuzzy controller
  • car like robot

Cite this

El-Khatib, M. M., Hamilton, D. J., & Soraghan, J. J. (2006). Design of cMOS analog proportional navigation method based fuzzy controller for car like robot. Paper presented at ASP 2006, United Kingdom.
El-Khatib, M.M. ; Hamilton, D.J. ; Soraghan, J.J. / Design of cMOS analog proportional navigation method based fuzzy controller for car like robot. Paper presented at ASP 2006, United Kingdom.6 p.
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El-Khatib, MM, Hamilton, DJ & Soraghan, JJ 2006, 'Design of cMOS analog proportional navigation method based fuzzy controller for car like robot' Paper presented at ASP 2006, United Kingdom, 1/01/06 - 1/01/06, .

Design of cMOS analog proportional navigation method based fuzzy controller for car like robot. / El-Khatib, M.M.; Hamilton, D.J.; Soraghan, J.J.

2006. Paper presented at ASP 2006, United Kingdom.

Research output: Contribution to conferencePaper

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T1 - Design of cMOS analog proportional navigation method based fuzzy controller for car like robot

AU - El-Khatib, M.M.

AU - Hamilton, D.J.

AU - Soraghan, J.J.

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N2 - A fully CMOS analog fuzzy controller for real time navigation of a car-like robot based on proportional navigation method using voltage mode for input and output signals is presented. The system uses an intelligent combination of two behaviours to cope with obstacle avoidance and goal approaching using a proportional navigation path accounting for car-like robot kinematics. 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

AB - A fully CMOS analog fuzzy controller for real time navigation of a car-like robot based on proportional navigation method using voltage mode for input and output signals is presented. The system uses an intelligent combination of two behaviours to cope with obstacle avoidance and goal approaching using a proportional navigation path accounting for car-like robot kinematics. 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

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KW - proportional navigation

KW - fuzzy controller

KW - car like robot

UR - http://asp.brookes.ac.uk/pdfs/ASP2006_PROGRAMME.pdf

M3 - Paper

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El-Khatib MM, Hamilton DJ, Soraghan JJ. Design of cMOS analog proportional navigation method based fuzzy controller for car like robot. 2006. Paper presented at ASP 2006, United Kingdom.