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Updated: Jul 4, 2026

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
Published on: October 14, 2017
A Versatile Approach to Polygonal Object Avoidance in Indoor Environments with Hardware Schemes Using an FPGA-Based
Mudasar Basha1,2, Munuswamy Siva Kumar1, Mangali Chinna Chinnaiah2,3
1Department of Electronics and Communication Engineering, Koneru Lakshmaiah Education Foundation, Green Fields, Guntur 522502, Andhra Pradesh, India.
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.
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