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A co-operative type of multi-robot parking system with versatile mode and implementation using FPGA

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Abstract

The trending and spotlight research in the field of mobile robots in an indoor environment is the parking of autonomous multi-mobile robots. The proposed research work presents a co-operative, unified autonomous multi-robot system (MRS) for parking in the indoor environment. In the research work, initially MRS establishes by themselves a flock using the behavioral control mechanism and is capable of swapping leadership behavior based on event-driven conditions. The Real time challenges of MRS flocking in an indoor environment are parking and obstacle avoidance with rendezvous approach. In this regard, the proposed hardware-based accelerators for MRS flock have been developed using Verilog HDL and deployed on Field Programmable Gate Array (FPGA) to perform obstacle avoidance with rendezvous and parking at versatile modes. In the process of parking by MRS, the leader evaluates parking slot dimensions and drives the flock towards the parking. Due to versatile parking modes, the MRS can park in parallel/perpendicular and angular parking. The proposed approach has been implemented and validated with experiments using Vivado tools and Xilinx FPGA Zynq-7000 SoC ZC702.

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Acknowledgements

The Authors are thankful to the Science and Engineering Research Board, New Delhi, INDIA for funding this work as part of project entitled "A Companion type Assistive System for Elderly People using VLSI based Service Robot” under the Science and Engineering Research Board (SERB-ECR).

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Authors and Affiliations

  1. CARE Research Centre, Department of ECE, B V Raju Institute of Technology, Medak, Telangana, India

    G Divya Vani, M. C. Chinnaiah & Sanjay Dubey

  2. VLSI & Microelectronics Research Lab, Department of Electronics and Communication Engineering, Koneru Lakshmaiah Education and Foundation, Vaddeswaram, Guntur, 522502, Andhra Pradesh, India

    G Divya Vani & Srinivasa Rao Karumuri

  3. School of Computer Science and Engineering, Nanyang Technological University (NTU), Singapore, Singapore

    M. C. Chinnaiah & Lam Siew-Kei

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  1. G Divya Vani
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  2. Srinivasa Rao Karumuri
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  3. M. C. Chinnaiah
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  4. Lam Siew-Kei
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  5. Sanjay Dubey
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Correspondence to Srinivasa Rao Karumuri.

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Vani, G.D., Karumuri, S.R., Chinnaiah, M.C. et al. A co-operative type of multi-robot parking system with versatile mode and implementation using FPGA. Microsyst Technol 29, 1515–1528 (2023). https://doi.org/10.1007/s00542-023-05525-7

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  • DOI: https://doi.org/10.1007/s00542-023-05525-7

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