FPGA Based fuzzy processor for an omni-directional mobile robot | |
| Author | Chirot Charitkhuan |
| Call Number | AIT Thesis no.ME-02-01 |
| Subject(s) | Mobile robots Robots Control systems Fuzzy systems Field programmable gate arrays |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ME-02-01 |
| Abstract | The purpose of this thesis is to develop an FPGA based fuzzy processor. This fuzzy processor maintains its direction based on the compass data. This approach will replace a more conventional microprocessor which processor speed is a major limiting factor (the microprocessor may not be fast enough to react to the movement of the robot). A typical Omni-directional robot is a test base for the FPGA ( Xilinx XC4062xla and Xilinx XC2S200 ) based fuzzy processor. To simplify the movement of the Omni-directional robot, this thesis utilizes step motors for all of the motion control of the robot. This will allow for future development of the path planning or similar approach for the FPGA based fuzzy processor. |
| Year | 2002 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ME-02-01 |
| Type | Thesis |
| School | School of Advanced Technologies (SAT) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Lertsak Lekawat; |
| Examination Committee(s) | Itti Rittaporn;Manukid Parnichkun; |
| Scholarship Donor(s) | Sripathum University; |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2002 |