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The Strathprints institutional repository is a digital archive of University of Strathclyde's Open Access research outputs. Strathprints provides access to thousands of Open Access research papers by University of Strathclyde researchers, including by researchers from the Department of Computer & Information Sciences involved in mathematically structured programming, similarity and metric search, computer security, software systems, combinatronics and digital health.

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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.

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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