Fpga Based Multi-Robot Collision Avoidance System

摘要

Abstract This paper presents a Multi-robot collision avoidance system suitable for FPGA implementation. The proposed scheme attempts a novel method of Reciprocal Collision Avoidance(RCA) along with Accelerating Velocity Obstacles(AVO). Parallel architecture is used for developing the collision analysis of robots with different targets. Each of these robots moves and reaches its target, avoiding collisions on its path. Simulations for the digital design hardware have been carried out in Vivado software and the robotic movements have been demonstrated using V-rep software. The proposed scheme would result in reduced cost and power dissipation while deploying in FPGAs. The details of the collision detection algorithm and the working of different modules used in the scheme along with test results are presented in the paper.