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

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

研究成果: Conference contribution

抜粋

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.

元の言語English
ホスト出版物のタイトルProceedings - 2019 International Conference on Field-Programmable Technology, ICFPT 2019
出版者Institute of Electrical and Electronics Engineers Inc.
ページ457-460
ページ数4
ISBN(電子版)9781728129433
DOI
出版物ステータスPublished - 2019 12
イベント18th International Conference on Field-Programmable Technology, ICFPT 2019 - Tianjin, China
継続期間: 2019 12 92019 12 13

出版物シリーズ

名前Proceedings - 2019 International Conference on Field-Programmable Technology, ICFPT 2019
2019-December

Conference

Conference18th International Conference on Field-Programmable Technology, ICFPT 2019
China
Tianjin
期間19/12/919/12/13

ASJC Scopus subject areas

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

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  • これを引用

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