Hardware schemes for smarter indoor robotics to prevent the backing crash framework using field programmable gate array-based multi-robots
The use of smart indoor robotics services is gradually increasing in real-time scenarios. This paper presents a versatile approach to multi-robot backing crash prevention in indoor environments, using hardware schemes to achieve greater competence. Here, sensor fusion was initially used to analyze t...
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Main Authors: | , , , , , , , |
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其他作者: | |
格式: | Article |
語言: | English |
出版: |
2024
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在線閱讀: | https://hdl.handle.net/10356/178522 |
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機構: | Nanyang Technological University |
語言: | English |
總結: | The use of smart indoor robotics services is gradually increasing in real-time scenarios. This paper presents a versatile approach to multi-robot backing crash prevention in indoor environments, using hardware schemes to achieve greater competence. Here, sensor fusion was initially used to analyze the state of multi-robots and their orientation within a static or dynamic scenario. The proposed novel hardware scheme-based framework integrates both static and dynamic scenarios for the execution of backing crash prevention. A round-robin (RR) scheduling algorithm was composed for the static scenario. Dynamic backing crash prevention was deployed by embedding a first come, first served (FCFS) scheduling algorithm. The behavioral control mechanism of the distributed multi-robots was integrated with FCFS and adaptive cruise control (ACC) scheduling algorithms. The integration of multiple algorithms is a challenging task for smarter indoor robotics, and the Xilinx-based partial reconfiguration method was deployed to avoid computational issues with multiple algorithms during the run-time. These methods were coded with Verilog HDL and validated using an FPGA (Zynq)-based multi-robot system. |
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