Implementation of a Multi-Layered Fuzzy Controller on an FPGA

Abstract

This paper describes the development and implementation of a multilayered fuzzy controller on an FPGA for the navigational control of an autonomous mobile robot (AMR). The navigational algorithm assists the AMR to traverse through unknown environment and reach a set destination point avoiding all the obstacles in its path. The AMR consists of three modules: sensor module, motor driver module, and the supervisor module. The FPGA implementation of the control algorithm which is divided into three layers: orientation layer, PD layer, and obstacle avoidance layer results in a compact design, and improved performance of the robot system