Development of Generalized Voronoi Diagram using FPGA-based Mobile Robot

Generalized Voronoi Diagram (GVD) is a method of representing environment map. An FPGA-based mobile robot is capable of parallel processing of various robotic sub-tasks simultaneously. Map building of an unknown environment using FPGA based robot is investigated with the constraint of available computing using only digital operations.

Key Contributors: Dr. K. Sridharan (IITM), Dr. Arun Mahindrakar (IITM)

Selected Publication

  • Leena Vachhani, Arun D. Mahindrakar and K. Sridharan, "Mobile Robot Navigation Through a Hardware Efficient Implementation for Control Law Based Construction of Generalized Voronoi Diagram" IEEE/ASME Transactions on Mechatronics, Vol. 16, No. 6, pp 1083-1095, Dec. 2011.(Impact Factor: 5.673)
  • Leena Vachhani, K. Sridharan and P.K. Meher, "Efficient FPGA Realization of CORDIC with Application to Robotic Exploration", IEEE Transactions on Industrial Electronics, pp 4915-4929, Vol. 56, No.12, December 2009. (Impact Factor: 7.515)
  • Leena Vachhani and K.Sridharan, "Hardware-Efficient Prediction-Correction Based Generalized Voronoi Diagram Construction and FPGA Implementation", IEEETransactions on Industrial Electronics, pp 1558-1569, Vol. 55, No. 4,April 2008. (Impact Factor: 7.515)

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