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Implementation Of A Multi-Layered Fuzzy Controller On An Fpga, Ajit Paal Singh Khatra
Implementation Of A Multi-Layered Fuzzy Controller On An Fpga, Ajit Paal Singh Khatra
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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 …