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...
| Main Authors: | , , , , , , , |
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| Format: | Journal Article |
| Language: | English |
| Published: |
2024
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| Online Access: | https://hdl.handle.net/10356/173777 |
| _version_ | 1811678935878991872 |
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| author | Basha, Mudasar Kumar, Munuswamy Siva Chinnaiah, Mangali Chinna Lam, Siew-Kei Srikanthan, Thambipillai Janardhan, Narambhatla Krishna, Dodde Hari Dubey, Sanjay |
| author2 | School of Computer Science and Engineering |
| author_facet | School of Computer Science and Engineering Basha, Mudasar Kumar, Munuswamy Siva Chinnaiah, Mangali Chinna Lam, Siew-Kei Srikanthan, Thambipillai Janardhan, Narambhatla Krishna, Dodde Hari Dubey, Sanjay |
| author_sort | Basha, Mudasar |
| collection | NTU |
| 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 | 2024-10-01T03:01:10Z |
| format | Journal Article |
| id | ntu-10356/173777 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:01:10Z |
| publishDate | 2024 |
| record_format | dspace |
| spelling | ntu-10356/1737772024-06-25T06:48:01Z A versatile approach to polygonal object avoidance in indoor environments with hardware schemes using an FPGA-based multi-robot Basha, Mudasar Kumar, Munuswamy Siva Chinnaiah, Mangali Chinna Lam, Siew-Kei Srikanthan, Thambipillai Janardhan, Narambhatla Krishna, Dodde Hari Dubey, Sanjay School of Computer Science and Engineering College of Computing and Data Science Computer and Information Science Multi-robot Collision avoidance 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. Published version This work was supported by the Science and Engineering Research Board (SERB) grant funded by the Indian government (No. ECR/2016/001848). 2024-02-27T01:54:53Z 2024-02-27T01:54:53Z 2023 Journal Article Basha, M., Kumar, M. S., Chinnaiah, M. C., Lam, S., Srikanthan, T., Janardhan, N., Krishna, D. H. & Dubey, S. (2023). A versatile approach to polygonal object avoidance in indoor environments with hardware schemes using an FPGA-based multi-robot. Sensors, 23(23), 9480-. https://dx.doi.org/10.3390/s23239480 1424-8220 https://hdl.handle.net/10356/173777 10.3390/s23239480 38067853 2-s2.0-85179133123 23 23 9480 en Sensors © 2023 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https:// creativecommons.org/licenses/by/ 4.0/). application/pdf |
| spellingShingle | Computer and Information Science Multi-robot Collision avoidance Basha, Mudasar Kumar, Munuswamy Siva Chinnaiah, Mangali Chinna Lam, Siew-Kei Srikanthan, Thambipillai Janardhan, Narambhatla Krishna, Dodde Hari Dubey, Sanjay A versatile approach to polygonal object avoidance in indoor environments with hardware schemes using an FPGA-based multi-robot |
| 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 | Computer and Information Science Multi-robot Collision avoidance |
| url | https://hdl.handle.net/10356/173777 |
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