{"title":"用FPGA实现了轮式机器人避障模糊控制","authors":"Zheng-Kai Chiu, Pei-Jun Lee","doi":"10.1109/ICSSE.2017.8030844","DOIUrl":null,"url":null,"abstract":"This paper designs and fabricates an intelligent wheel robot which can walking and avoid obstacles autonomously. The obstacle avoidance is achieved by using fuzzy control technique. In order to turn angle rapidly for the wheel robot, we adopt three distance value and turning angle in last state between the obstacle and robot to design the fuzzy sets. According to the results of the simulation and practical experiment, the path of obstacle avoidance by using fuzzy control is much smoother than that by using intuitive control. All the above motion controls are implemented by Altera DE2-115 FPGA board with some useful sensors.","PeriodicalId":296191,"journal":{"name":"2017 International Conference on System Science and Engineering (ICSSE)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"A fuzzy control for obstacle avoidance implemented in the wheel robot with FPGA\",\"authors\":\"Zheng-Kai Chiu, Pei-Jun Lee\",\"doi\":\"10.1109/ICSSE.2017.8030844\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper designs and fabricates an intelligent wheel robot which can walking and avoid obstacles autonomously. The obstacle avoidance is achieved by using fuzzy control technique. In order to turn angle rapidly for the wheel robot, we adopt three distance value and turning angle in last state between the obstacle and robot to design the fuzzy sets. According to the results of the simulation and practical experiment, the path of obstacle avoidance by using fuzzy control is much smoother than that by using intuitive control. All the above motion controls are implemented by Altera DE2-115 FPGA board with some useful sensors.\",\"PeriodicalId\":296191,\"journal\":{\"name\":\"2017 International Conference on System Science and Engineering (ICSSE)\",\"volume\":\"14 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2017-07-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2017 International Conference on System Science and Engineering (ICSSE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICSSE.2017.8030844\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 International Conference on System Science and Engineering (ICSSE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICSSE.2017.8030844","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A fuzzy control for obstacle avoidance implemented in the wheel robot with FPGA
This paper designs and fabricates an intelligent wheel robot which can walking and avoid obstacles autonomously. The obstacle avoidance is achieved by using fuzzy control technique. In order to turn angle rapidly for the wheel robot, we adopt three distance value and turning angle in last state between the obstacle and robot to design the fuzzy sets. According to the results of the simulation and practical experiment, the path of obstacle avoidance by using fuzzy control is much smoother than that by using intuitive control. All the above motion controls are implemented by Altera DE2-115 FPGA board with some useful sensors.
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