Hardware Schemes for Smarter Indoor Robotics to Prevent the Backing Crash Framework Using Field Programmable Gate Array-Based Multi-Robots

. 2024 Mar 7;24(6):1724. doi: 10.3390/s24061724

Algorithm 1: Pseudocode for identification of robot position during indoor parking

1. Initialize sensory distance and reference distances, digital compass directions
2.      Case A: estimation of robot position in parking
3.         State 1: if ((D_xθ = θ_ref) && ((S_XL & S_XR) = dmin))? Case B: State 2.
4.         State 2: if ((D_xθ ≠ θ_ref) && ((S_XL & S_XR) = dmin))? Case C: Case A.
5.      Case B: robot at perpendicular parking in static/dynamic state
6.         State 11: if ((D_xθ = θ_ref) && ((S_{XB_0} & S_{XR_135} & S_{XL_225}) = dmax))? State 12: State 13.
7.         State 12: Algorithm_2 of Case _A//Switch to RR & Behavioral
8.         State 13: Algorithm_3 of Case _3A//Switch to FCFS & ACC algorithm
9.      Case C: robot at inclination parking in static/dynamic state
10.         State 21: if ((D_xθ ≠ θ_ref) && ((S_{XB_0} & S_{XR_135} & S_{XL_225}) = dmax))? State 22: State 23.
11.         State 22: Algorithm_2 of Case _A//Switch to RR & Behavioral
12.         State 23: Algorithm_3 of Case _3A//Switch to FCFS & ACC
13. end cases.