Fuzzy Logic for Omnidirectional Mobile Platform Control Based in FPGA and Bluetooth Communication

Abstract

An Omni directional mobile platform control using the intelligence technique of Fuzzy Logic is showed in the article, the control allows a practical and reliable driving control of 4 Omni directional wheels, implemented in FPGA allowing to have an independent and autonomous single chip system out of a central computer dependence in order to be used with different applications like service robots platforms. An additional feature is performed by using Bluetooth communication with a cellular phone based on a smartphone OS Android as the handset control device. Driving movement for the mobile platform is limited for 8 directions, a Fuzzy Logic module controls the travelling of the platform with independent movement for each wheel, physical feedback is implemented by using electronic decoders.