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In this paper, the VHDL implementation of an intelligent navigation system using hybrid fuzzy controllers has been proposed. Two parallel fuzzy logic controllers are utilized to conquer the major mobile robot navigation challenges in narrow concave U-shaped obstacles, and deep narrow passage, and to track a target in an environment with varying obstacles. The results demonstrate the suitability of the FPGAs in control tasks for multiple fuzzy logic controllers. The implementation of the control units for the robot with FPGA is an important approach in the way for building a real prototype. The proposed algorithm involves fuzzy model of robot navigation system and the hybrid controllers are designed and evaluated based on this models. Such a method will further advance the development of a real-world intelligent control system for performance evaluation of various control strategies in a prototype robotic vehicle.
Date of Conference: 13-15 Aug. 2010