文档介绍：928 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 55, NO. 2, FEBRUARY 2008
Design of Embedded DSP-Based Fuzzy Controllers
for Autonomous Mobile Robots
Iluminada Baturone, Francisco J. Moreno-Velo, Víctor Blanco, and Joaquín Ferruz
Abstract—Fuzzy controllers are used in many applications The trend in many autonomous robots (such as ary
because of their rapid design by translating heuristic knowledge, exploration vehicles, microrobots, etc.) is that the onboard
robustness against perturbations, and smoothness in the control control system is restricted to a small size, light weight, and low
action. However, they require parallel processing and special
operators (such as fuzzification or defuzzification) which are power consumption, which means the need for embedded con-
not available in standard digital signal processors (DSPs), thus trollers capable of real-time operation. An embedded system
complicating their direct implementation. This paper describes may follow different approaches: 1) embedded software on off-
an efficient design methodology that allows starting with any the-ponents [microprocessors or specific processors
kind of fuzzy controller and subsequently transforming it un- such as microcontrollers and digital signal processors (DSPs)];
til a system suitable for easy DSP implementation is obtained.
Such methodology is greatly aided by the design en