在室内环境中,使用基于FPGA的多机器人的硬件方案来避免多边形对象的多功能方法
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
概括
这项研究引入了一种新的生物灵感集群算法,用于室内环境中的多机器人避障. 该系统使用分布式智能和硬件加速来实现高效的导航和约会行为.
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:
- 服务机器人需要在室内导航时强大的避障能力.
- 现有的多机器人系统往往缺乏高效的,生物灵感导航策略.
研究的目的:
- 开发和验证用于室内避难障碍物的群体式多机器人系统.
- 整合分布式智能,行为控制和硬件加速以实现增强的导航.
主要方法:
- 开发了一个三阶段的,生物灵感的集群算法,结合了多边形障碍估计和Bug2算法.
- Verilog HDL被用来设计用于多机器人避障算法的VLSI架构.
- 实现了一种新的行为控制和基于硬件的部分重新配置 (PR) 流程的整合.
主要成果:
- 开发的算法成功使多机器人能够在室内环境中避免障碍物.
- 实验验证实了系统的有效性,使用基于现场可编程门阵列 (FPGA) 的多机器人.
- 行为控制和硬件方案的整合实现了高效的导航.
结论:
- 拟议的集群型多机器人系统为室内避障提供了有效的解决方案.
- 生物灵感的方法与硬件加速相结合,提供了一个可扩展和高效的导航策略.
- 这项研究有助于自主服务机器人的发展.
相关概念视频
Machines
Machines are complex structures consisting of movable, pin-connected multi-force members that work together to transmit forces. One example of a machine is the cutting plier, which is used to cut wires by applying forces to its handles. When equal and opposite forces are exerted on the handles of the cutting plier, they cause the cutting edges to come together and apply equal and opposite reaction forces on the wire, which are greater than the applied forces.
A free-body diagram of the...
A free-body diagram of the...
Machines: Problem Solving I
A toggle clamp is a mechanical device commonly used for holding and clamping objects in various applications, such as woodworking, metalworking, and assembly operations. Consider a toggle clamp subjected to a force of 200 N at the handle. The vertical clamping force can be calculated, provided the dimensions of the toggle clamp are known.
The toggle clamp system is a machine structure consisting of movable, pin-connected multi-force members that form a stabilized system to transmit forces. The...
The toggle clamp system is a machine structure consisting of movable, pin-connected multi-force members that form a stabilized system to transmit forces. The...
Machines: Problem Solving II
Machines are complex structures consisting of movable, pin-connected multi-force members that work together to transmit forces. Consider a lifting tong carrying a 100 kg load. It comprises movable sections DAF and CBG linked together with member AB.
Multimachine Stability
Multimachine stability analysis is crucial for understanding the dynamics and stability of power systems with multiple synchronous machines. The objective is to solve the swing equations for a network of M machines connected to an N-bus power system.
In analyzing the system, the nodal equations represent the relationship between bus voltages, machine voltages, and machine currents. The nodal equation is given by:
In analyzing the system, the nodal equations represent the relationship between bus voltages, machine voltages, and machine currents. The nodal equation is given by:
Mechanistic Models: Compartment Models in Algorithms for Numerical Problem Solving
Mechanistic models play a crucial role in algorithms for numerical problem-solving, particularly in nonlinear mixed effects modeling (NMEM). These models aim to minimize specific objective functions by evaluating various parameter estimates, leading to the development of systematic algorithms. In some cases, linearization techniques approximate the model using linear equations.
In individual population analyses, different algorithms are employed, such as Cauchy's method, which uses a...
In individual population analyses, different algorithms are employed, such as Cauchy's method, which uses a...
Parallel Processing
The brain processes sensory information rapidly due to parallel processing, which involves sending data across multiple neural pathways at the same time. This method allows the brain to manage various sensory qualities, such as shapes, colors, movements, and locations, all concurrently. For instance, when observing a forest landscape, the brain simultaneously processes the movement of leaves, the shapes of trees, the depth between them, and the various shades of green. This enables a quick and...


