Hardware Scheme for Autonomous Docking Algorithm using FPGA based Mobile Robot

This paper proposes the self docking navigation algorithm for autonomous transportation of heavy loads using multiple mobile robots. The proposed method gives novelty in implementation of algorithm using VLSI architectures. All individual nonholonomic robots accompanying themselves with autonomous behaviour control mechanism, are capable in self formation at docking point without any collision. The robots consider indoor environment floor direction in 2D plane (X, X1 and Z, Z1). The hardware schemes are coded in Verilog and same is simulated, synthesized and implemented on FPGA using Xilinx VIVADO tools. FPGAs (Xilinx Zynq-7000 SoC ZC702) are acting as main control unit of the mobile robot prototypes. The FPGA based mobile robots are used for validation of autonomous docking algorithm.