Embedding a fuzzy locomotion pose controller for a Wheeled mobile robot into an FPGA

This work deals with the embedding architecture into an FPGA of a fuzzy locomotion controller for pose regulation of a differential nonholonomic mobile robot. It is presented an standardized design based on the actual and target pose, it does not need any dynamic model to work, the design provides the estimate angular speeds, then using the kinematic model, a feedback of the actual position is provided, hence the same system can be used by different mobile robots considering that the speed control of driving wheels is a subsystem and a configuration is provided. These features makes this proposal viable to be used by the automotive industry in the automatic steering system for self-parking for different car models with differential tracking. The controller was developed using VHDL code, its functionality is simulated by merging the code into the Simulink environment. The experimental framework, experiments and results are explained.