Implementation of a ROS-based autonomous vehicle on an FPGA board

Kento Hasegawa, Kazunari Takasaki, Makoto Nishizawa, Ryota Ishikawa, Kazushi Kawamura, Nozomu Togawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publicationProceedings - 2019 International Conference on Field-Programmable Technology, ICFPT 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages457-460
Number of pages4
ISBN (Electronic)9781728129433
DOIs
Publication statusPublished - 2019 Dec
Event18th International Conference on Field-Programmable Technology, ICFPT 2019 - Tianjin, China
Duration: 2019 Dec 92019 Dec 13

Publication series

NameProceedings - 2019 International Conference on Field-Programmable Technology, ICFPT 2019
Volume2019-December

Conference

Conference18th International Conference on Field-Programmable Technology, ICFPT 2019
CountryChina
CityTianjin
Period19/12/919/12/13

Keywords

  • Autonomous vehicle
  • FPGA
  • Lane detection
  • PWM control
  • ROS

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Artificial Intelligence
  • Computational Theory and Mathematics
  • Hardware and Architecture

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  • Cite this

    Hasegawa, K., Takasaki, K., Nishizawa, M., Ishikawa, R., Kawamura, K., & Togawa, N. (2019). Implementation of a ROS-based autonomous vehicle on an FPGA board. In Proceedings - 2019 International Conference on Field-Programmable Technology, ICFPT 2019 (pp. 457-460). [8977881] (Proceedings - 2019 International Conference on Field-Programmable Technology, ICFPT 2019; Vol. 2019-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICFPT47387.2019.00092