A Versatile Approach to Polygonal Object Avoidance in Indoor Environments with Hardware Schemes Using an FPGA-Based Multi-Robot

Abstract

Service robots perform versatile functions in indoor environments. This study focuses on obstacle avoidance using flock-type indoor-based multi-robots. Each robot was developed with rendezvous behavior and distributed intelligence to perform obstacle avoidance. The hardware scheme-based obstacle-avoidance algorithm was developed using a bio-inspired flock approach, which was developed with three stages. Initially, the algorithm estimates polygonal obstacles and their orientations. The second stage involves performing avoidance at different orientations of obstacles using a heuristic based Bug2 algorithm. The final stage involves performing a flock rendezvous with distributed approaches and linear movements using a behavioral control mechanism. VLSI architectures were developed for multi-robot obstacle avoidance algorithms and were coded using Verilog HDL. The novel design of this article integrates the multi-robot’s obstacle approaches with behavioral control and hardware scheme-based partial reconfiguration (PR) flow. The experiments were validated using FPGA-based multi-robots.

Hardware Schemes for Smarter Indoor Robotics to Prevent the Backing Crash Framework Using Field Programmable Gate Array-Based Multi-Robots

“…The execution of these tasks depends on obstacles and collision avoidance. Bug and other heuristic-based obstacle avoidance methods have been deployed by researchers in the form of cooperative centralization and decentralization approaches [8][9][10]. An interesting aspect of robotics is the fact that the backing of a vehicle/robot during parking or navigation depends on its environment.…”