Implementation of Fuzzy Logic in FPGA for Maze Tracking of a Mobile Robot Based on Ultrasonic Distance Measurement

摘要

This paper describes an application of fuzzy logic to solve the problem of an autonomous mobile robot in tracking the path within a maze.The robot equipped with ultrasonic transceivers to measure the distance between robot and the wall.The information of distance then will be processed using fuzzy-based algorithm and implemented in two chips FPGA.The FPGA has responsibility to formulize the rule of the fuzzy and generate the PWM signals for robot's motors as the result of fuzzy inference.Implementing all necessary fuzzy logic algorithms will require many FPGA resources.Therefore, we use two FPGAs: XC4010E and XC4005XL.The first one for the fuzzification and rule base evaluation, and it consumes 98% of its resources (CLBs).The second one for defuzzification and PWM output generation, which utilizes 78% of all its CLBs.By implementing fuzzy logic using FPGA, the robot achieves relatively safe tracking the path in real-time sense.