Autonomous vehicle guidance with fuzzy algorithm

Abstract

Two of the most important problems of autonomous mobile robots are the physical implementation (sensors and actuators) and strategy definition. The objective of the paper is to describe a vehicle guidance circuit with less specific hardware as possible and with an easy way of defining the guidance strategy. The control circuit is based on a low cost microcontroller and an FPGA. The guidance strategy is based on a fuzzy algorithm implemented in the FPGA.