A Study on Introducing FPGA to ROS Based Autonomous Driving System

摘要

We are developing an autonomous driving robot using programmable SoC. The robot under development does not communicate with the external PC and performs all judgment and control on the board mounted on the robot. We aim to realize a built-in autonomous driving system with low power consumption and high performance by offloading high-load processing with the FPGA. At present, it is used only for acquiring camera images on the FPGA, but we are planning to do hardware implementation of the system constructed by software. In addition, we used ROS (Robot Operating System) to construct the robot's autonomous driving system, and the components to be developed are reusable. This document describes the detailed configuration and future prospect of the robot currently under development.