Page 9 - Designing Autonomous Mobile Robots : Inside the Mindo f an Intellegent Machine

Contents

Kernels and tasks ............................................................................................ 28
Task switching ................................................................................................ 31
Interrupt events .............................................................................................. 31
Time slicing .................................................................................................... 32
Reentrance ..................................................................................................... 32
Interrupt masking and interrupt priority ....................................................... 33
Inter-task communications ............................................................................ 34
Visual Basic and real-time controls................................................................ 35
VB events ....................................................................................................... 35

DoEvents ........................................................................................................ 35
Freddy as a VB form ....................................................................................... 38
Modal controls ............................................................................................... 40
Some other tips on using VB for real-time applications ............................... 40
Setting up a structure ..................................................................................... 40
Creating a library............................................................................................ 41

Chapter 4: Thinking More Clearly Through Fuzzy Logic .............................45
Trapezoidal fuzzy logic .................................................................................... 49

Fuzzy democracy ............................................................................................. 50
Adaptive fuzzy logic........................................................................................ 51
Weighting trapezoids in response to other parameters.................................. 51
Multipass and fratricidal fuzzy logic ............................................................... 53
Summary ......................................................................................................... 54

Chapter 5: Closed Loop Controls, Rabbits and Hounds............................. 55
Basic PID controls .......................................................................................... 58
Predictive controls ......................................................................................... 63

Combined reactive and predictive controls................................................... 64
Various PID enhancements ............................................................................ 65
Robot drive controls....................................................................................... 69
Tuning controls .............................................................................................. 73
Rabbits chasing rabbits................................................................................... 75
Conclusions .................................................................................................... 75

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