Lógica Difusa aplicada al Control Direccional de una Plataforma Móvil usando FPGA y Bluetooth (Fuzzy Logic for Omni directional Mobile Platform Control Displacement using FPGA and Bluetooth)

Mario Peña (mario.penia@iimas.unam.mx)1, J. A. Gómez (mario.penia@iimas.unam.mx)3, Román Osorio-Comparán (roman@servidor.unam.mx)3, Ismael López-Juárez (ismael.lopez@cinvestav.edu.mx)2, Víctor Lomas (vlomas@yahoo.com.mx)3, Humberto Gómez (mario.penia@iimas.unam.mx)3, Gastón Lefranc (glefranc@ucv.cl)4

1Universidad Nacional Autónoma de México (UNAM)
2Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV),
3Universidad Nacional Autónoma de México (UNAM),
4Pontificia Universidad Católica de Valparaíso

This paper appears in: Revista IEEE América Latina

Publication Date: June 2015
Volume: 13,   Issue: 6 
ISSN: 1548-0992

The article shows an omnidirectional mobile platform control using the artificial intelligence techinique of Fuzzy Logic; the control allows a practical and reliable driving control of 4 omnidirectional wheels. The control module is implemented in FPGA allowing having an independent and autonomous single chip system out of a central computer dependence to be used in different applications like service robots platforms. An additional feature is performed by using Bluetooth communication with a cellular phone as the handset control device. Driving movements for the mobile platform is limited for eight directions, a Fuzzy Logic module controls the travelling of the platform with independent movements for each wheel, physical feedback is implemented by using electronic decoders, and experimental results were achieved with an additional feature of a handset device control based on a smartphone OS Android with Bluetooth communication. Not using external software and having a system using an artificial intelligence technique implemented in fast hardware, gives the system robust and reliable control capabilities.

Index Terms:
Fuzzy Logic, FPGA, Omnidirectional platform, VHDL   

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