Hardware Schemes for Smarter Indoor Robotics to Prevent the Backing Crash Framework Using Field Programmable Gate Array-Based Multi-Robots
The use of smart indoor robotics services is gradually increasing in real-time scenarios. This paper presents a versatile approach to multi-robot backing crash prevention in indoor environments, using hardware schemes to achieve greater competence. Here, sensor fusion was initially used to analyze t...
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| Format: | Article |
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MDPI AG
2024-03-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/24/6/1724 |
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| author | Mudasar Basha Munuswamy Siva Kumar Mangali Chinna Chinnaiah Siew-Kei Lam Thambipillai Srikanthan Janardhan Narambhatla Hari Krishna Dodde Sanjay Dubey |
| author_facet | Mudasar Basha Munuswamy Siva Kumar Mangali Chinna Chinnaiah Siew-Kei Lam Thambipillai Srikanthan Janardhan Narambhatla Hari Krishna Dodde Sanjay Dubey |
| author_sort | Mudasar Basha |
| collection | DOAJ |
| description | The use of smart indoor robotics services is gradually increasing in real-time scenarios. This paper presents a versatile approach to multi-robot backing crash prevention in indoor environments, using hardware schemes to achieve greater competence. Here, sensor fusion was initially used to analyze the state of multi-robots and their orientation within a static or dynamic scenario. The proposed novel hardware scheme-based framework integrates both static and dynamic scenarios for the execution of backing crash prevention. A round-robin (RR) scheduling algorithm was composed for the static scenario. Dynamic backing crash prevention was deployed by embedding a first come, first served (FCFS) scheduling algorithm. The behavioral control mechanism of the distributed multi-robots was integrated with FCFS and adaptive cruise control (ACC) scheduling algorithms. The integration of multiple algorithms is a challenging task for smarter indoor robotics, and the Xilinx-based partial reconfiguration method was deployed to avoid computational issues with multiple algorithms during the run-time. These methods were coded with Verilog HDL and validated using an FPGA (Zynq)-based multi-robot system. |
| first_indexed | 2024-04-24T17:50:20Z |
| format | Article |
| id | doaj.art-3f5b9e93585444faa687ccb5180edbcb |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-24T17:50:20Z |
| publishDate | 2024-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-3f5b9e93585444faa687ccb5180edbcb2024-03-27T14:03:34ZengMDPI AGSensors1424-82202024-03-01246172410.3390/s24061724Hardware Schemes for Smarter Indoor Robotics to Prevent the Backing Crash Framework Using Field Programmable Gate Array-Based Multi-RobotsMudasar Basha0Munuswamy Siva Kumar1Mangali Chinna Chinnaiah2Siew-Kei Lam3Thambipillai Srikanthan4Janardhan Narambhatla5Hari Krishna Dodde6Sanjay 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, IndiaThe use of smart indoor robotics services is gradually increasing in real-time scenarios. This paper presents a versatile approach to multi-robot backing crash prevention in indoor environments, using hardware schemes to achieve greater competence. Here, sensor fusion was initially used to analyze the state of multi-robots and their orientation within a static or dynamic scenario. The proposed novel hardware scheme-based framework integrates both static and dynamic scenarios for the execution of backing crash prevention. A round-robin (RR) scheduling algorithm was composed for the static scenario. Dynamic backing crash prevention was deployed by embedding a first come, first served (FCFS) scheduling algorithm. The behavioral control mechanism of the distributed multi-robots was integrated with FCFS and adaptive cruise control (ACC) scheduling algorithms. The integration of multiple algorithms is a challenging task for smarter indoor robotics, and the Xilinx-based partial reconfiguration method was deployed to avoid computational issues with multiple algorithms during the run-time. These methods were coded with Verilog HDL and validated using an FPGA (Zynq)-based multi-robot system.https://www.mdpi.com/1424-8220/24/6/1724multi-robotbacking crash preventionsensor fusionbehavioral control |
| spellingShingle | Mudasar Basha Munuswamy Siva Kumar Mangali Chinna Chinnaiah Siew-Kei Lam Thambipillai Srikanthan Janardhan Narambhatla Hari Krishna Dodde Sanjay Dubey Hardware Schemes for Smarter Indoor Robotics to Prevent the Backing Crash Framework Using Field Programmable Gate Array-Based Multi-Robots Sensors multi-robot backing crash prevention sensor fusion behavioral control |
| title | Hardware Schemes for Smarter Indoor Robotics to Prevent the Backing Crash Framework Using Field Programmable Gate Array-Based Multi-Robots |
| title_full | Hardware Schemes for Smarter Indoor Robotics to Prevent the Backing Crash Framework Using Field Programmable Gate Array-Based Multi-Robots |
| title_fullStr | Hardware Schemes for Smarter Indoor Robotics to Prevent the Backing Crash Framework Using Field Programmable Gate Array-Based Multi-Robots |
| title_full_unstemmed | Hardware Schemes for Smarter Indoor Robotics to Prevent the Backing Crash Framework Using Field Programmable Gate Array-Based Multi-Robots |
| title_short | Hardware Schemes for Smarter Indoor Robotics to Prevent the Backing Crash Framework Using Field Programmable Gate Array-Based Multi-Robots |
| title_sort | hardware schemes for smarter indoor robotics to prevent the backing crash framework using field programmable gate array based multi robots |
| topic | multi-robot backing crash prevention sensor fusion behavioral control |
| url | https://www.mdpi.com/1424-8220/24/6/1724 |
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