Analog fuzzy robot motion planner

Soraghan, J.J. (2007) Analog fuzzy robot motion planner. In: 13th IEEE IFAC International Conference on Methods and Models in Automation and Robotics, 2007-08-27 - 2007-08-30.

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A fully CMOS voltage mode analog fuzzy motion planner for real time navigation of a car-like robot in a dynamic environment is presented. The system based on a complex rule base is inspired by human capabilities and uses Takagi-Sugeno fuzzy inference for the rule evaluation. 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.