Design of Analog Fuzzy Controller for Autonomous Mobile Robot

摘要

The analog fuzzy intelligent controllers for autonomous mobile robot to avoid static and dynamic obstacles in its local environment are presented. The controller designed for the robot is reconfigurable in nature in terms of number of rules in database i.e. flexibility for online rule change as per the frequency of obstacle in the local environment. The controller is proposed with adjustable membership function in terms of shape and degree of overlapping with dynamic rule base. New accurate MAX and MIN circuits are introduced. The controller is simulated using Tanner ® tool. The two-input single-output fuzzy controller with 25 rules is implemented in 0.25µm CMOS technology. The maximum delay was found to be 9.915ns for the processing of 25 rules and the value of FLIPS was found to be 100.85 MFLIPS.