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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Detalles Bibliográficos
Autores: Baturone Castillo, María Iluminada, Moreno Velo, Francisco José, Blanco, Víctor, Ferruz Melero, Joaquín
Tipo de recurso: artículo
Estado:Versión aceptada para publicación
Fecha de publicación:2008
País:España
Institución:Universidad de Sevilla (US)
Repositorio:idUS. Depósito de Investigación de la Universidad de Sevilla
OAI Identifier:oai:idus.us.es:11441/56078
Acceso en línea:http://hdl.handle.net/11441/56078
https://doi.org/10.1109/TIE.2007.896547
Access Level:acceso abierto
Palabra clave:Embedded systems
Fuzzy controllers
DSPs
CAD tools
autonomous robots
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spelling Design of embedded DSP-based fuzzy controllers for autonomous robotsBaturone Castillo, María IluminadaMoreno Velo, Francisco JoséBlanco, VíctorFerruz Melero, JoaquínEmbedded systemsFuzzy controllersDSPsCAD toolsautonomous robotsFuzzy 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.Comisión Interministerial de Ciencia y Tecnología DPI2005-02293 y TEC2005-04359Junta de Andalucía TIC2006-635 y TEP2006-375Institute of Electrical and Electronics EngineersElectrónica y ElectromagnetismoIngeniería de Sistemas y AutomáticaComisión Interministerial de Ciencia y Tecnología (CICYT). EspañaJunta de Andalucía2008info:eu-repo/semantics/articleinfo:eu-repo/semantics/acceptedVersionapplication/pdfapplication/pdfhttp://hdl.handle.net/11441/56078https://doi.org/10.1109/TIE.2007.896547reponame:idUS. Depósito de Investigación de la Universidad de Sevillainstname:Universidad de Sevilla (US)InglésIEEE Transactions on Industrial Electronics, 55 (2), 928-936.DPI2005-02293TEC2005-04359TIC2006-635TEP2006-37510.1109/TIE.2007.896547info:eu-repo/semantics/openAccessoai:idus.us.es:11441/560782026-06-17T12:51:07Z
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 Castillo, María Iluminada
Embedded systems
Fuzzy controllers
DSPs
CAD tools
autonomous robots
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 Castillo, María Iluminada
Moreno Velo, Francisco José
Blanco, Víctor
Ferruz Melero, Joaquín
author Baturone Castillo, María Iluminada
author_facet Baturone Castillo, María Iluminada
Moreno Velo, Francisco José
Blanco, Víctor
Ferruz Melero, Joaquín
author_role author
author2 Moreno Velo, Francisco José
Blanco, Víctor
Ferruz Melero, Joaquín
author2_role author
author
author
dc.contributor.none.fl_str_mv Electrónica y Electromagnetismo
Ingeniería de Sistemas y Automática
Comisión Interministerial de Ciencia y Tecnología (CICYT). España
Junta de Andalucía
dc.subject.none.fl_str_mv Embedded systems
Fuzzy controllers
DSPs
CAD tools
autonomous robots
topic Embedded systems
Fuzzy controllers
DSPs
CAD tools
autonomous robots
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
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/acceptedVersion
format article
status_str acceptedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11441/56078
https://doi.org/10.1109/TIE.2007.896547
url http://hdl.handle.net/11441/56078
https://doi.org/10.1109/TIE.2007.896547
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv IEEE Transactions on Industrial Electronics, 55 (2), 928-936.
DPI2005-02293
TEC2005-04359
TIC2006-635
TEP2006-375
10.1109/TIE.2007.896547
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
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:idUS. Depósito de Investigación de la Universidad de Sevilla
instname:Universidad de Sevilla (US)
instname_str Universidad de Sevilla (US)
reponame_str idUS. Depósito de Investigación de la Universidad de Sevilla
collection idUS. Depósito de Investigación de la Universidad de Sevilla
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,301629

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