An unveiling path planning algorithm with minimal sensing using embedded based robots

Abstract

Multi agent based service robots are keen area of research in these days as they find numerous applications in home and industrial environments. This paper proposes an able path planning algorithm for multi agent based service robots operating in indoor home environments. Our scenario utilizes the intensity based approach and RFID technology to traverse between the nodes (RFID Tags) and establish the optimal path from the source node to the destination node (goal). The experimental system consists of centralized multi robot system operating under rendezvous behavior to take up cooperative tasks in an indoor home environment. The customized hardware consists of two homogeneous FPGA (Spartan 6) robots, IR beacons and seekers, RFID tags, ultrasonic sensors.