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Control of mobile robots using fuzzy logic and programmable logic devices

Grant number: 12/11099-5
Support type:Scholarships in Brazil - Scientific Initiation
Effective date (Start): August 01, 2012
Effective date (End): February 28, 2013
Field of knowledge:Engineering - Electrical Engineering - Electrical, Magnetic and Electronic Measurements, Instrumentation
Principal researcher:Suely Cunha Amaro Mantovani
Grantee:Jean Rafael Camillo
Home Institution: Faculdade de Engenharia (FEIS). Universidade Estadual Paulista (UNESP). Campus de Ilha Solteira. Ilha Solteira , SP, Brazil

Abstract

The purpose of this research project is to develop a navigation system for an autonomous mobile robot, a controller, using artificial intelligence techniques such as Fuzzy logic and programmable logic devices like FPGA family, Cyclone II -ALTERA, and the software environment development Quartus II. The level of research in undergraduate research is to consider the issue of mobile robot navigation and deliver a solution among the many found in the literature. This is to control the movement of a prototype of a robot via a control system programmed in a commercial plate DE2 Altera, which contains programmable logic devices using it for developing software from the same manufacturer, the Quartus II. This project proposes the use of the concept of fuzzy logic and a hardware description language to develop a control algorithm of the robot. This robot comprises two side wheels, each coupled to a stepper motor, a dumb front wheel, and three distance sensors which provide signals to the robot's position to be done to control the stepper motors and its displacement. The result of this work and the accuracy obtained should be compared with other prototypes developed in the literature.(AU)

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