International Journal of Advanced Robotic Systems (Nov 2011)

A Fuzzy Obstacle Avoidance Controller Using a Lookup-Table Sharing Method and Its Applications for Mobile Robots

  • Jinwook Kim,
  • Yoon-Gu Kim,
  • Jinung An

Journal volume & issue
Vol. 8, no. 5

Abstract

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A Lookup‐Table (LUT) based design enhances the processing speed of a fuzzy obstacle avoidance controller by reducing the operation time. Also, a LUT sharing method provides efficient ways of reducing the LUT memory size. In order to share the LUT which is used for a fuzzy obstacle avoidance controller, an idea of using a basis function is developed. As applications of the shared LUT‐based fuzzy controller, a laser‐sensor‐based fuzzy controller and an ultrasonic‐sensor‐based fuzzy controller are introduced in this paper. This paper suggests a LUT sharing method that reduces the LUT buffer size without a significant degradation of the performance. The LUT sharing method makes the buffer size independent of the fuzzy system

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