拖车机器人停车的硬件高效方案由卡车机器人停车在室内环境与约会
Divya Vani G1,2, Srinivasa Rao Karumuri1, Chinnaiah M C2,3
1Department of Electronics and Communication Engineering, Koneru Lakshmaiah Education Foundation, Green Fields, Vaddeswaram 522502, India.
Sensors (Basel, Switzerland)
|June 10, 2023
概括
这项研究介绍了一种硬件效率高的算法,用于在室内环境中自主拖车机器人停车. 一个卡车机器人使用集合方法引导一个拖车机器人,确保同步控制高效的多机器人停车.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人工智能的人工智能
- 计算机工程 计算机工程
背景情况:
- 室内环境中的自主机器人停车对多机器人系统构成重大挑战.
- 现有的方法往往对未知的室内空间缺乏效率,需要精确的同步.
- 在静态和动态操作期间保持行为控制对机器人团队至关重要.
研究的目的:
- 提出一个硬件效率高的算法,用于自主拖车机器人停车,使用领导者-追随者方法.
- 在停车机动作过程中建立强大的行为控制和异质机器人之间的同步.
- 在未知的室内环境中展示一种有效的多机器人停车方法.
主要方法:
- 采用了一个聚会方法,其中一个卡车机器人 (领导者) 估计停车位,并指导一个拖车机器人 (追随者).
- 在异质机器人之间实施了行为控制机制,利用优化的传感器进行导航和停车.
- 卡车机器人使用了带有Verilog HDL的FPGA (现场可编程门阵列),而拖车机器人则使用了带有Python的Arduino UNO.
主要成果:
- 拟议的算法成功实现了由卡车机器人监督的拖车机器人的自主停车.
- 异质计算平台 (FPGA和Arduino) 已被证明适用于复杂的机器人任务,如拖车停车.
- 领导者-追随者战略确保了路径规划和停车场执行的同步行动.
结论:
- 开发的硬件高效算法为室内设置的自主多机器人停车提供了有效的解决方案.
- 不同质的机器人集成和监督引导方法对于复杂的自主操作是可行的.
- 这项研究有助于城市环境的自主服务机器人的进步.
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