TY - GEN
T1 - Implementation of a ROS-based autonomous vehicle on an FPGA board
AU - Hasegawa, Kento
AU - Takasaki, Kazunari
AU - Nishizawa, Makoto
AU - Ishikawa, Ryota
AU - Kawamura, Kazushi
AU - Togawa, Nozomu
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/12
Y1 - 2019/12
N2 - Due to the development of high-performance LSIs, autonomous vehicle will be realized in a few years. The FPGA Design Competition is one of the valuable opportunities to demonstrate an autonomous vehicle on miniature roads. In this paper, we develop a ROS-based autonomous vehicle which is implemented on an FPGA board as a mock car. ROS is a common framework designed to implement various types of robots. Utilizing the ROS-based platform, we develop a model car for the demonstration of an autonomous vehicle. The on-board programmable logic is used to off-load the processing of image recognition such as lane detection, traffic signal detection, and obstacle detection. The implementation results demonstrate that we can successfully implement essential components of the vehicle on an FPGA board with the ROS-based system.
AB - Due to the development of high-performance LSIs, autonomous vehicle will be realized in a few years. The FPGA Design Competition is one of the valuable opportunities to demonstrate an autonomous vehicle on miniature roads. In this paper, we develop a ROS-based autonomous vehicle which is implemented on an FPGA board as a mock car. ROS is a common framework designed to implement various types of robots. Utilizing the ROS-based platform, we develop a model car for the demonstration of an autonomous vehicle. The on-board programmable logic is used to off-load the processing of image recognition such as lane detection, traffic signal detection, and obstacle detection. The implementation results demonstrate that we can successfully implement essential components of the vehicle on an FPGA board with the ROS-based system.
KW - Autonomous vehicle
KW - FPGA
KW - Lane detection
KW - PWM control
KW - ROS
UR - http://www.scopus.com/inward/record.url?scp=85084812926&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85084812926&partnerID=8YFLogxK
U2 - 10.1109/ICFPT47387.2019.00092
DO - 10.1109/ICFPT47387.2019.00092
M3 - Conference contribution
AN - SCOPUS:85084812926
T3 - Proceedings - 2019 International Conference on Field-Programmable Technology, ICFPT 2019
SP - 457
EP - 460
BT - Proceedings - 2019 International Conference on Field-Programmable Technology, ICFPT 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 18th International Conference on Field-Programmable Technology, ICFPT 2019
Y2 - 9 December 2019 through 13 December 2019
ER -