Design of embedded DSP-based fuzzy controllers for autonomous robots

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 a...

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Autores: Baturone, Iluminada, Moreno Velo, Francisco José, Blanco, Víctor, Ferruz, Joaquín
Tipo de recurso: artículo
Fecha de publicación:2008
País:España
Institución:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/86369
Acceso en línea:http://hdl.handle.net/10261/86369
Access Level:acceso abierto
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spelling Design of embedded DSP-based fuzzy controllers for autonomous robotsBaturone, IluminadaMoreno Velo, Francisco JoséBlanco, VíctorFerruz, JoaquínFuzzy 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.his work was supported in part by the Spanish CICYT Projects DPI2005-02293 and TEC2005-04359, and by the Projects TIC2006-635 and TEP2006-375 from the Andalusian regional Government.Peer ReviewedInstitute of Electrical and Electronics Engineers2013201320082013info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501http://hdl.handle.net/10261/86369reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Ingléshttp://dx.doi.org/10.1109/TIE.2007.896547info:eu-repo/semantics/openAccessoai:digital.csic.es:10261/863692026-05-22T06:33:51Z
dc.title.none.fl_str_mv Design of embedded DSP-based fuzzy controllers for autonomous robots
title Design of embedded DSP-based fuzzy controllers for autonomous robots
spellingShingle Design of embedded DSP-based fuzzy controllers for autonomous robots
Baturone, Iluminada
title_short Design of embedded DSP-based fuzzy controllers for autonomous robots
title_full Design of embedded DSP-based fuzzy controllers for autonomous robots
title_fullStr Design of embedded DSP-based fuzzy controllers for autonomous robots
title_full_unstemmed Design of embedded DSP-based fuzzy controllers for autonomous robots
title_sort Design of embedded DSP-based fuzzy controllers for autonomous robots
dc.creator.none.fl_str_mv Baturone, Iluminada
Moreno Velo, Francisco José
Blanco, Víctor
Ferruz, Joaquín
author Baturone, Iluminada
author_facet Baturone, Iluminada
Moreno Velo, Francisco José
Blanco, Víctor
Ferruz, Joaquín
author_role author
author2 Moreno Velo, Francisco José
Blanco, Víctor
Ferruz, Joaquín
author2_role author
author
author
description 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.
publishDate 2008
dc.date.none.fl_str_mv 2008
2013
2013
2013
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
format article
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/86369
url http://hdl.handle.net/10261/86369
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv http://dx.doi.org/10.1109/TIE.2007.896547
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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