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Design of embedded DSP-based fuzzy controllers for autonomous robots


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Opened Access Design of embedded DSP-based fuzzy controllers for autonomous robots

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Author: Baturone Castillo, María Iluminada
Moreno Velo, Francisco José
Blanco, Víctor
Ferruz Melero, Joaquín
Department: Universidad de Sevilla. Departamento de Electrónica y Electromagnetismo
Date: 2008
Published in: IEEE Transactions on Industrial Electronics, 55 (2), 928-936.
Document type: Article
Abstract: Fuzzy controllers are used in many applications because of their rapid design by translating heuristic knowledge, robustness against perturbations, and smoothness in the control action. However, they require parallel processing and special operators (such as fuzzification or defuzzification) which are not available in standard digital signal processors (DSPs), thus complicating their direct implementation. This paper describes an efficient design methodology that allows starting with any kind of fuzzy controller and subsequently transforming it until a system suitable for easy DSP implementation is obtained. Such methodology is greatly aided by the design environment Xfuzzy 3. The parking problem of an autonomous robot is described to illustrate the steps of this methodology. Real experiments with the autonomous robot ROMEO 4R demonstrate efficiency of the designed fuzzy controller embedded into a stand-alone card based on a fixed-point DSP from Texas Instruments.
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