Development of fuzzy control systems on programmable chips: application to motion planning of mobile robots

This paper describes the realization of embedded fuzzy control systems for planning the motion of autonomous mobile robots. The development of the controllers is carried out by means of a reconfigurable platform based on FPGAs. This platform combines a general-purpose processor with specific hardware to implement fuzzy inference modules, thus allowing the comparison between a fully software solution and others based on hybrid hardware/software techniques. Both the processing system and the inference modules are configurable using available CAD tools, which make the development of the controllers easier