A Versatile Approach to Polygonal Object Avoidance in Indoor Environments with Hardware Schemes Using an FPGA-Based Multi-Robot
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-avo...
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| Format: | Article |
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MDPI AG
2023-11-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/23/23/9480 |
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| author | Mudasar Basha Munuswamy Siva Kumar Mangali Chinna Chinnaiah Siew-Kei Lam Thambipillai Srikanthan Narambhatla Janardhan Dodde Hari Krishna Sanjay Dubey |
| author_facet | Mudasar Basha Munuswamy Siva Kumar Mangali Chinna Chinnaiah Siew-Kei Lam Thambipillai Srikanthan Narambhatla Janardhan Dodde Hari Krishna Sanjay Dubey |
| author_sort | Mudasar Basha |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-09T01:42:47Z |
| format | Article |
| id | doaj.art-23823bd465304ef2a943e0783b00e829 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T01:42:47Z |
| publishDate | 2023-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-23823bd465304ef2a943e0783b00e8292023-12-08T15:26:09ZengMDPI AGSensors1424-82202023-11-012323948010.3390/s23239480A Versatile Approach to Polygonal Object Avoidance in Indoor Environments with Hardware Schemes Using an FPGA-Based Multi-RobotMudasar Basha0Munuswamy Siva Kumar1Mangali Chinna Chinnaiah2Siew-Kei Lam3Thambipillai Srikanthan4Narambhatla Janardhan5Dodde Hari Krishna6Sanjay Dubey7Department of Electronics and Communication Engineering, Koneru Lakshmaiah Education Foundation, Green Fields, Guntur 522502, Andhra Pradesh, IndiaDepartment of Electronics and Communication Engineering, Koneru Lakshmaiah Education Foundation, Green Fields, Guntur 522502, Andhra Pradesh, IndiaDepartment of Electronics and Communications Engineering, B. V. Raju Institute of Technology, Medak (Dist), Narsapur 502313, Telangana, IndiaSchool of Computer Science and Engineering, Nanyang Technological University, Singapore 639798, SingaporeSchool of Computer Science and Engineering, Nanyang Technological University, Singapore 639798, SingaporeDepartment of Mechanical Engineering, Chaitanya Bharati Institute of Technology, Gandipet, Hyderabad 500075, Telangana, IndiaDepartment of Electronics and Communications Engineering, B. V. Raju Institute of Technology, Medak (Dist), Narsapur 502313, Telangana, IndiaDepartment of Electronics and Communications Engineering, B. V. Raju Institute of Technology, Medak (Dist), Narsapur 502313, Telangana, IndiaService 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.https://www.mdpi.com/1424-8220/23/23/9480multi-robotcollision avoidanceobject orientationbehavioral control |
| spellingShingle | Mudasar Basha Munuswamy Siva Kumar Mangali Chinna Chinnaiah Siew-Kei Lam Thambipillai Srikanthan Narambhatla Janardhan Dodde Hari Krishna Sanjay Dubey A Versatile Approach to Polygonal Object Avoidance in Indoor Environments with Hardware Schemes Using an FPGA-Based Multi-Robot Sensors multi-robot collision avoidance object orientation behavioral control |
| title | A Versatile Approach to Polygonal Object Avoidance in Indoor Environments with Hardware Schemes Using an FPGA-Based Multi-Robot |
| title_full | A Versatile Approach to Polygonal Object Avoidance in Indoor Environments with Hardware Schemes Using an FPGA-Based Multi-Robot |
| title_fullStr | A Versatile Approach to Polygonal Object Avoidance in Indoor Environments with Hardware Schemes Using an FPGA-Based Multi-Robot |
| title_full_unstemmed | A Versatile Approach to Polygonal Object Avoidance in Indoor Environments with Hardware Schemes Using an FPGA-Based Multi-Robot |
| title_short | A Versatile Approach to Polygonal Object Avoidance in Indoor Environments with Hardware Schemes Using an FPGA-Based Multi-Robot |
| title_sort | versatile approach to polygonal object avoidance in indoor environments with hardware schemes using an fpga based multi robot |
| topic | multi-robot collision avoidance object orientation behavioral control |
| url | https://www.mdpi.com/1424-8220/23/23/9480 |
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