A novel approach in navigation of FPGA robots in robust indoor environment

Abstract

The Multi robotic system required behavioural control to perform successful navigation. The navigation of the multi robots is performed based on intensity signals from goal and both the robots are incorporated with IR seeker. The navigation starts at (S) and reaches to goal point (G) (IR Beacon). The obstacle avoidance mechanism is also performed by both leader and follower robots. Multi robots navigation in indoor environment is performed with centralization and distributed methods. This paper presents the challenges of multi robot how the leader and follower robots can change their mode of behavioural control by switching between centralization and decentralization methods with a novel approach using implicit communication. The proposed work is implemented in our laboratory and it is also hardware efficient. Robots are developed with minimal sensors like eight ultrasonic sensors, digital compass, RF Transceiver (PMOD-RF2) and Spartan 3e FPGA boards