Designing Fuzzy Based Mobile Robot Controller using VHDL

Abstract

This paper presents a designing of model for an autonomous mobile robot controller (MRC) hardware with navigation concept using Fuzzy Logic Algorithm (FLA). The MRC enables with navigation for an unstructured environment to avoid any encountered obstacles without human intervention. The designed hardware architecture of autonomous mobile robot can be easily used in unstructured environments appropriately to avoid collision with obstacles by turning to the proper angle. Additionally, the FLA concept has proven a commendable intelligent solution in dealing for the certain control problems, when the situation is uncertain. In this paper, the designed hardware architecture of MRC has been performed with the concept of autonomous mobile robot controller using the theories of Fuzzy algorithm. The architecture blocks of the MRC consist of Fuzzifier, Fuzzy Rule Base, Inference mechanism and Defuzzifier. The model of MRC algorithm is first developed in MATLAB. After getting the confidence on MATLAB results, the developed model of MRC has translated into VHDL model for hardware implementation, followed by the synthesis tool, Quartus II from Altera to get synthesized logic gate levels. The synthesized codes have downloaded into Field Programmable Gate Array (FPGA) board to verify the correctness of the MRC algorithm in behavioral level for VLSI implementation.