Picture of two heads

Open Access research that challenges the mind...

The Strathprints institutional repository is a digital archive of University of Strathclyde research outputs. Strathprints provides access to thousands of Open Access research papers by University of Strathclyde researchers, including those from the School of Psychological Sciences & Health - but also papers by researchers based within the Faculties of Science, Engineering, Humanities & Social Sciences, and from the Strathclyde Business School.

Discover more...

Design of cMOS analog proportional navigation method based fuzzy controller for car like robot

El-Khatib, M.M. and Hamilton, D.J. and Soraghan, J.J. (2006) Design of cMOS analog proportional navigation method based fuzzy controller for car like robot. In: ASP 2006, 2006-01-01 - 2006-01-01.

Full text not available in this repository. (Request a copy from the Strathclyde author)

Abstract

A fully CMOS analog fuzzy controller for real time navigation of a car-like robot based on proportional navigation method using voltage mode for input and output signals is presented. The system uses an intelligent combination of two behaviours to cope with obstacle avoidance and goal approaching using a proportional navigation path accounting for car-like robot kinematics. The system benefits from the analog design advantages of occupying a small silicon area, high speed and low power consumption. New accurate MAX and MIN circuits are introduced. The controller is simulated and verified by comparing the outputs of the design on SIMULINK with those from an analog implementation