A novel approach in implementation of rendezvous behavioral control between FPGA robots

In the context of multi agent robot path planning, behavioral control exhibits its importance. This paper proposes the new scheme and hardware design for key elements of behavioral control between two mobile robots. Among two robots one is considered as the leader and other as follower. Leader (IR seeker) plans the path, it starts at S and reaches the Goal (G) based on the Intensity which is transmitted from the Goal (IR Beacon). Every instant of time it checks the follower behavior and takes appropriate action depending on its position. Follower simply follows the leader and checks the behavior of leader all the way. The mobile robots have been designed using ultra sonic sensors, FPGA and stepper motors. The control unit designed to perform autonomous navigation for both the rendezvous and leader-follower methodologies. The Design is developed using Verilog and implemented on Spartan 6 FPGA robots, the simulation results have been shown and implementation done successfully. This design very much useful in industry environment.