The Design of Embedded Fuzzy Logic Controller for Autonomous Mobile Robots
Published in International SoC Design Conference (ISOCC), 2023
In this paper, we propose an embedded fuzzy logic controller (EFLC) with a focus on addressing the challenges arising from the increasing number of fuzzy rules in autonomous mobile robots (AMRs). The Cortex-M0 is selected as the main processor, and the entire logic was implemented utilizing Verilog HDL. In order to evaluate performance, we analyzed the execution time difference between a software-only implementation of a fuzzy logic controller (FLC) on Cortex-M0 and a hardware-accelerated implementation with the proposed EFLC. The effectiveness and feasibility of the proposed design were demonstrated through simulations and field-programmable gate array (FPGA) implementation.
Youngwoo Jeong, Won Sik Jeong, Jin Young Shin, Seung Eun Lee. "The Design of Embedded Fuzzy Logic Controller for Autonomous Mobile Robots." International SoC Design Conference (ISOCC), 2023.
