FPGA based fuzzy control technique for obstacle avoidance

Abstract

This paper provides a novel approach for design of an intelligent multilayer controller for autonomous mobile robot which enables the robot to navigate in a real world dynamic environment. It deals with the design of fuzzy controller and modules with HDL approach and the synthesis of the same for the obstacle avoidance and parking of vehicle. The two layer fuzzy controller has been proposed for finding collision possibility and obstacle avoidance by controlling the translational and rotational velocity. Also a multilayer fuzzy controller has been proposed for parking of vehicle by controlling the speed and angular deviation. The fuzzy logic controller has been designed and implemented using Verilog HDL in Altera Quartus-II Software.