Field programmable gate array technology for robotics applications

Abstract

Field programmable gate arrays (FPGAs) are integrated circuits which can be user customised to implement arbitrary digital functions. Modern FPGAs combine generalised logic resources with programmable interconnect, microprocessors, networking, multipliers, memories, delay/phase locked loops and other cores to provide a versatile system on a chip (SoC), In this review paper, we describe a typical FPGA architecture and discuss how they can be used advantageously in robotics. Compared with conventional technologies, FPGAs offer high speed, low power, reduced development time and cost. Examples are given including applications in logic replacement, rapid prototyping, control, planning and sensors