Artificial intelligent and FPGAs for omnidirectional 3-wheeled mobile robot
Artificial intelligent and FPGAs for omnidirectional 3-wheeled mobile robot
- Author(s): M. M. M. Al-Khalidy 1 ; R. N. Ebrahim 1 ; A. Al-Khalidy 1
- DOI: 10.1049/icp.2021.0821
For access to this article, please select a purchase option:
Buy conference paper PDF
Buy Knowledge Pack
IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.
Thank you
Your recommendation has been sent to your librarian.
- Author(s): M. M. M. Al-Khalidy 1 ; R. N. Ebrahim 1 ; A. Al-Khalidy 1
-
-
View affiliations
-
Affiliations:
1:
Electrical and Electronics Engineering Department , College of Engineering, University of Bahrain , Bahrain
Source:
3rd Smart Cities Symposium (SCS 2020),
2021
p.
124 – 129
-
Affiliations:
1:
Electrical and Electronics Engineering Department , College of Engineering, University of Bahrain , Bahrain
- Conference: 3rd Smart Cities Symposium (SCS 2020)
- DOI: 10.1049/icp.2021.0821
- ISBN: 978-1-83953-522-2
- Location: Online Conference
- Conference date: 21-23 September 2020
- Format: PDF
This paper presents an intelligent adaptive controller based on the MIMO Neuro-Fuzzy Recurrent Neuro-Fuzzy Interference Network controller (NFRNFIT) for Omnidirectional 3-Wheeled Mobile Robot WMR. The kinematic model of the platform with 3-omnidirectional independent Mecanum-Wheels is described briefly in this paper. The influence of using a classical PID controller and NFRNFIT on the trajectory of the proposed WMR is introduced through simulated results. Obstacle avoidance is one of the major issues that this paper solved depending on FPGAs efficiently and at a minimum cost. The application of this paper is compatible with the future vision of smart cities where artificial intelligent techniques with FPGAs will be the dominant player. Field Programmable Gate Array FPGA technologies and their contribution to the artificial intelligent techniques became the merit of this era for all designers and researchers. Designers need FPGA technologies that allow them to be able to build compact AI devices in real-time. The results obtained from this paper showed a huge difference when using AI among other classical controllers.
Inspec keywords: control system synthesis; field programmable gate arrays; fuzzy neural nets; wheels; recurrent neural nets; mobile robots; artificial intelligence; three-term control; neurocontrollers; adaptive control; collision avoidance
Subjects: Mechanical components; Mobile robots; Control system analysis and synthesis methods; Self-adjusting control systems; Spatial variables control; Logic and switching circuits; Logic circuits