A versatile approach for adaptive grid mapping and grid flex-graph exploration with a field-programmable gate array-based robot using hardware schemes

Robotic exploration in dynamic and complex environments requires advanced adaptive mapping strategies to ensure accurate representation of the environments. This paper introduces an innovative grid flex-graph exploration (GFGE) algorithm designed for single-robot mapping. This hardware-scheme-based...

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Main Authors: Basha, Mudasar, Siva Kumar, Munuswamy, Chinnaiah, Mangali Chinna, Lam, Siew-Kei, Srikanthan, Thambipillai, Divya Vani, Gaddam, Janardhan, Narambhatla, Dodde, Hari Krishna, Dubey, Sanjay
Other Authors: College of Computing and Data Science
Format: Article
Language:English
Published: 2024
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Online Access:https://hdl.handle.net/10356/178521
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-1785212024-06-25T06:35:10Z A versatile approach for adaptive grid mapping and grid flex-graph exploration with a field-programmable gate array-based robot using hardware schemes Basha, Mudasar Siva Kumar, Munuswamy Chinnaiah, Mangali Chinna Lam, Siew-Kei Srikanthan, Thambipillai Divya Vani, Gaddam Janardhan, Narambhatla Dodde, Hari Krishna Dubey, Sanjay College of Computing and Data Science School of Computer Science and Engineering Computer and Information Science Single robot Robotic exploration Robotic exploration in dynamic and complex environments requires advanced adaptive mapping strategies to ensure accurate representation of the environments. This paper introduces an innovative grid flex-graph exploration (GFGE) algorithm designed for single-robot mapping. This hardware-scheme-based algorithm leverages a combination of quad-grid and graph structures to enhance the efficiency of both local and global mapping implemented on a field-programmable gate array (FPGA). This novel research work involved using sensor fusion to analyze a robot's behavior and flexibility in the presence of static and dynamic objects. A behavior-based grid construction algorithm was proposed for the construction of a quad-grid that represents the occupancy of frontier cells. The selection of the next exploration target in a graph-like structure was proposed using partial reconfiguration-based frontier-graph exploration approaches. The complete exploration method handles the data when updating the local map to optimize the redundant exploration of previously explored nodes. Together, the exploration handles the quadtree-like structure efficiently under dynamic and uncertain conditions with a parallel processing architecture. Integrating several algorithms into indoor robotics was a complex process, and a Xilinx-based partial reconfiguration approach was used to prevent computing difficulties when running many algorithms simultaneously. These algorithms were developed, simulated, and synthesized using the Verilog hardware description language on Zynq SoC. Experiments were carried out utilizing a robot based on a field-programmable gate array (FPGA), and the resource utilization and power consumption of the device were analyzed. Published version This work was supported by a Science and Engineering Research Board (SERB) grant funded by the Indian government (No. ECR/2016/001848). 2024-06-25T06:25:33Z 2024-06-25T06:25:33Z 2024 Journal Article Basha, M., Kumar, M. S., Chinnaiah, M. C., Lam, S., Srikanthan, T., Vani, G. D., Janardhan, N., Krishna, D. H. & Dubey, S. (2024). A versatile approach for adaptive grid mapping and grid flex-graph exploration with a field-programmable gate array-based robot using hardware schemes. Sensors, 24(9), 2775-. https://dx.doi.org/10.3390/s24092775 1424-8220 https://hdl.handle.net/10356/178521 10.3390/s24092775 38732882 9 24 2775 en Sensors © 2024 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
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic Computer and Information Science
Single robot
Robotic exploration
spellingShingle Computer and Information Science
Single robot
Robotic exploration
Basha, Mudasar
Siva Kumar, Munuswamy
Chinnaiah, Mangali Chinna
Lam, Siew-Kei
Srikanthan, Thambipillai
Divya Vani, Gaddam
Janardhan, Narambhatla
Dodde, Hari Krishna
Dubey, Sanjay
A versatile approach for adaptive grid mapping and grid flex-graph exploration with a field-programmable gate array-based robot using hardware schemes
description Robotic exploration in dynamic and complex environments requires advanced adaptive mapping strategies to ensure accurate representation of the environments. This paper introduces an innovative grid flex-graph exploration (GFGE) algorithm designed for single-robot mapping. This hardware-scheme-based algorithm leverages a combination of quad-grid and graph structures to enhance the efficiency of both local and global mapping implemented on a field-programmable gate array (FPGA). This novel research work involved using sensor fusion to analyze a robot's behavior and flexibility in the presence of static and dynamic objects. A behavior-based grid construction algorithm was proposed for the construction of a quad-grid that represents the occupancy of frontier cells. The selection of the next exploration target in a graph-like structure was proposed using partial reconfiguration-based frontier-graph exploration approaches. The complete exploration method handles the data when updating the local map to optimize the redundant exploration of previously explored nodes. Together, the exploration handles the quadtree-like structure efficiently under dynamic and uncertain conditions with a parallel processing architecture. Integrating several algorithms into indoor robotics was a complex process, and a Xilinx-based partial reconfiguration approach was used to prevent computing difficulties when running many algorithms simultaneously. These algorithms were developed, simulated, and synthesized using the Verilog hardware description language on Zynq SoC. Experiments were carried out utilizing a robot based on a field-programmable gate array (FPGA), and the resource utilization and power consumption of the device were analyzed.
author2 College of Computing and Data Science
author_facet College of Computing and Data Science
Basha, Mudasar
Siva Kumar, Munuswamy
Chinnaiah, Mangali Chinna
Lam, Siew-Kei
Srikanthan, Thambipillai
Divya Vani, Gaddam
Janardhan, Narambhatla
Dodde, Hari Krishna
Dubey, Sanjay
format Article
author Basha, Mudasar
Siva Kumar, Munuswamy
Chinnaiah, Mangali Chinna
Lam, Siew-Kei
Srikanthan, Thambipillai
Divya Vani, Gaddam
Janardhan, Narambhatla
Dodde, Hari Krishna
Dubey, Sanjay
author_sort Basha, Mudasar
title A versatile approach for adaptive grid mapping and grid flex-graph exploration with a field-programmable gate array-based robot using hardware schemes
title_short A versatile approach for adaptive grid mapping and grid flex-graph exploration with a field-programmable gate array-based robot using hardware schemes
title_full A versatile approach for adaptive grid mapping and grid flex-graph exploration with a field-programmable gate array-based robot using hardware schemes
title_fullStr A versatile approach for adaptive grid mapping and grid flex-graph exploration with a field-programmable gate array-based robot using hardware schemes
title_full_unstemmed A versatile approach for adaptive grid mapping and grid flex-graph exploration with a field-programmable gate array-based robot using hardware schemes
title_sort versatile approach for adaptive grid mapping and grid flex-graph exploration with a field-programmable gate array-based robot using hardware schemes
publishDate 2024
url https://hdl.handle.net/10356/178521
_version_ 1806059831214211072