Title :
Fuzzy Logic for Omnidirectional Mobile Platform Control Based in FPGA and Bluetooth Communication
Author :
Pena-Cabrera, Mario ; Antonio-Gomez M, J. ; Osorio, Roman ; Gomez, Humberto ; Lomas, Victor ; Lopez-Juarez, Ismael
Author_Institution :
Univ. Nac. Autonoma de Mexico, Mexico City, Mexico
Abstract :
An Omni directional mobile platform control using the intelligence technique of Fuzzy Logic is showed in the article, the control allows a practical and reliable driving control of 4 Omni directional wheels, implemented in FPGA allowing to have an independent and autonomous single chip system out of a central computer dependence in order to be used with different applications like service robots platforms. An additional feature is performed by using Bluetooth communication with a cellular phone based on a smartphone OS Android as the handset control device. Driving movement for the mobile platform is limited for 8 directions, a Fuzzy Logic module controls the travelling of the platform with independent movement for each wheel, physical feedback is implemented by using electronic decoders.
Keywords :
Android (operating system); Bluetooth; cellular radio; control engineering computing; field programmable gate arrays; fuzzy control; microprocessor chips; mobile robots; motion control; service robots; smart phones; Bluetooth communication; FPGA; autonomous single chip system; cellular phone; central computer dependence; driving control reliability; driving movement; electronic decoders; fuzzy logic module; independent single chip system; intelligence technique; omnidirectional mobile platform control; physical feedback; service robots platforms; smartphone OS Android; Field programmable gate arrays; Fuzzy logic; Fuzzy sets; Mathematical model; Mobile communication; Pragmatics; Wheels; Bluetooth; FPGA; Fuzzy Logic; Omnidirectional Platform; VHDL;
Conference_Titel :
Artificial Intelligence (MICAI), 2014 13th Mexican International Conference on
Print_ISBN :
978-1-4673-7010-3
DOI :
10.1109/MICAI.2014.27
