Implementation of Shortest path planning algorithm without track using FPGA robot: A new approach

Abstract

This paper presents a shortest path algorithm for FPGA based robot which can assist in industrial environment for various tasks. When a desired task is assigned to the robot, it chooses a shortest path from the source to the destination. Path planning is an important issue for an autonomous robot to fulfill any desired task. Today many robots implement the path planning depending on the track, but practically track doesn't exists. So path planning with track is not a right choice. This paper overcomes tracking path issues, estimates the exact position, and improves effective localization and accuracy using land mark determination (RFID). With the help of ultrasonic sensors, the robot overcomes all the obstacles in its path. By using obstacle avoidance approach, a robot can perform a desired task using optimal resources. When a navigation task is assigned to the robot, it starts from there evaluating shortest distance to reach the destination. The proposed Robot is incorporated with Xilinx board XC3S500E (FPGA Spartan 3E) and RFID reader which checks the signal from RFID tags to localize the robot with respect to global position. The destination location is received from the remote location and the shortest path is computed by algorithm. The Implementation results have been shown and estimation of shortest path is done successfully.