A versatile path planning algorithm with behavioural control using FPGA based robots

Abstract

The versatile solution to path planning of multi robots for industrial based services are presented in this paper. The authors are motivated to solve the challenges of multi robots path planning issues. The hardware based amenable algorithm for optimal path planning of multi robot with behavioural control is developed. The heuristic approach based leader follower method is incorporated between robots for behavioural control. The robots were able to navigate in both static and dynamic conditions by using the modified M* based obstacle avoidance mechanism with CORDIC module. This is validated by implementation of algorithm on Spartan 6 FPGAs (XC6SLX45 CSG324C).