Fuzzy-logic-based inference techniques provide efficient solutions for control problems in classical and emerging applications. However, the lack of specific design tools and systematic approaches for hardware implementation of complex fuzzy controllers limits the applicability of these techniques in modern microelectronics products. This paper discusses a design strategy that eases the implementation of embedded fuzzy controllers as systems on programmable chips. The development of the controllers is carried out by means of a reconfigurable platform based on field-programmable gate arrays. This platform combines specific hardware to implement fuzzy inference modules with a general-purpose processor, thus allowing the realization of hybrid hardware/software solutions. As happens to the components of the processing system, the specific fuzzy elements are conceived as configurable intellectual property modules in order to accelerate the controller design cycle. The design methodology and tool chain presented in this paper have been applied to the realization of a control system for solving the navigation tasks of an autonomous vehicle. © 2007 IEEE. ; This work was supported in part by the Spanish Ministry of Education and Science under Projects TEC2005-04359/MIC and DPI2005-02293, and in part by the Andalusian Regional Government under Projects TIC2006-635 and TEP2006-375. ; Peer Reviewed


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    Title :

    FPGA implementation of embedded fuzzy controllers for robotic applications



    Publication date :

    2007-01-01



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629



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