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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.
Sensors (Basel, Switzerland)
|December 9, 2023
Summary
This study introduces a novel bio-inspired flocking algorithm for multi-robot obstacle avoidance in indoor settings. The system uses distributed intelligence and hardware acceleration for efficient navigation and rendezvous behaviors.
Area of Science:
- Robotics
- Artificial Intelligence
- Computer Engineering
Background:
- Service robots require robust obstacle avoidance for indoor navigation.
- Existing multi-robot systems often lack efficient, bio-inspired navigation strategies.
Purpose of the Study:
- To develop and validate a flock-type, multi-robot system for indoor obstacle avoidance.
- To integrate distributed intelligence, behavioral control, and hardware acceleration for enhanced navigation.
Main Methods:
- A three-stage, bio-inspired flocking algorithm was developed, incorporating polygonal obstacle estimation and the Bug2 algorithm.
- Verilog HDL was used to design VLSI architectures for the multi-robot obstacle avoidance algorithms.
- A novel integration of behavioral control and hardware-based partial reconfiguration (PR) flow was implemented.
Main Results:
- The developed algorithm successfully enabled multi-robots to perform obstacle avoidance in indoor environments.
- Experiments validated the system's effectiveness using Field-Programmable Gate Arrays (FPGA)-based multi-robots.
- The integration of behavioral control and hardware scheme achieved efficient navigation.
Conclusions:
- The proposed flock-type multi-robot system offers an effective solution for indoor obstacle avoidance.
- The bio-inspired approach combined with hardware acceleration provides a scalable and efficient navigation strategy.
- This research contributes to the advancement of autonomous service robots.
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