Sensor Fusion based Polygon shaped Obstacle Avoidance using FPGA

Abstract

Obstacle avoidance in robotics is a very vital and important aspect. Many techniques developed over the years to perform obstacle avoidance. With the advent of cutting-edge technologies, it has become more prominent in the field of robotics. While there exist algorithms and models that perform obstacle avoidance, this project is to implement obstacle avoidance with minimal deviation from the original path. The intention is to do this task by applying a concept called sensor-fusion. Sensor fusion techniques have been making rounds among the scientific community over the years. Many scholars and researchers have incorporated many algorithms associated with sensor fusion in their respective works. There are algorithms associated with Artificial Neural Networks (ANN) and fuzzy logic systems. The nature of obstacles in these works have remained uncertain in most of the cases except for curvature obstacles that uses algorithms like the bug algorithm to traverse along the curvature obstacle. This paper in contrast, defines the nature of the obstacle viz. Polygonal obstacles that considered in this work. The proposed work keen about algorithm developed on the platform of FPGA Artix-7 family (XC7A35T-1CPG236C).