Sensors, Vol. 24, Pages 2775: A Versatile Approach for Adaptive Grid Mapping and Grid Flex-Graph Exploration with a Field-Programmable Gate Array-Based Robot Using Hardware Schemes

Sensors, Vol. 24, Pages 2775: A Versatile Approach for Adaptive Grid Mapping and Grid Flex-Graph Exploration with a Field-Programmable Gate Array-Based Robot Using Hardware Schemes Sensors doi: 10.3390/s24092775 Authors: Mudasar Basha Munuswamy Siva Kumar Mangali Chinna Chinnaiah Siew-Kei Lam Thambipillai Srikanthan Gaddam Divya Vani Narambhatla Janardhan Dodde Hari Krishna Sanjay Dubey Robotic exploration in dynamic and complex environments requires advanced adaptive mapping strategies to ensure accurate representation of the environments. This paper introduces an innovative grid flex-graph exploration (GFGE) algorithm designed for single-robot mapping. This hardware-scheme-based algorithm leverages a combination of quad-grid and graph structures to enhance the efficiency of both local and global mapping implemented on a field-programmable gate array (FPGA). This novel research work involved using sensor fusion to analyze a robot’s behavior and flexibility in the presence of static and dynamic objects. A behavior-based grid construction algorithm was proposed for the construction of a quad-grid that represents the occupancy of frontier cells. The selection of the next exploration target in a graph-like structure was proposed using partial reconfiguration-based frontier-graph exploration approaches. The complete exploration method handles the data when updating the local map to optimize the redundant exploration of previously explored nod...
Source: Sensors - Category: Biotechnology Authors: Tags: Article Source Type: research