Name
Abstract | ||
|---|---|---|
Autonomous mobile robots require high-performance computation to meet variety of requirements of functions, such as sensing, intelligent image processing and controlling actuators. We focus on FPGA as a hardware platform for autonomous mobile robot system. However, a FPGA-based system is not effective in development cost, since it requires HDL-based design whose productivity is relatively low. In order to solve this problem, we have already proposed a design principle of ROS-compliant FPGA component, which is effective in easy integration of a FPGA device into any robot system. Although it allows ROS-based software to access easily to hardware circuitry in FPGA, high development cost of HDL-based circuitry still remains as a large problem. So, in this paper, we propose cReComp which is an automated design tool to improve productivity of ROS-compliant FPGA component. cReComp generates codes of interface software and hardware automatically. We evaluate cReComp from two major aspects: improvements in design productivity, and operation speed of generated FPGA components by cReComp. Experimental results show that only less than one hour is enough for novice designers to implement a ROS-compliant FPGA component into programmable SoC. Furthermore, our results reveal that generated FPGA component operates 1.85 times faster than the original software-based component. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1109/MCSoC.2016.47 | 2016 IEEE 10th International Symposium on Embedded Multicore/Many-core Systems-on-Chip (MCSOC) |
Keywords | Field | DocType |
FPGA,Programmable SoC,Component oriented development,ROS,ROS-compliant FPGA component,Robot | Computer science,FPGA prototype,Field-programmable gate array,Design tool,Software,Robot,Mobile robot,Embedded system,Reconfigurable computing,Actuator | Conference |
ISBN | Citations | PageRank |
978-1-5090-3532-8 | 0 | 0.34 |
References | Authors | |
0 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kazushi Yamashina | 1 | 2 | 0.73 |
| Hitomi Kimura | 2 | 0 | 0.34 |
| Takeshi Ohkawa | 3 | 21 | 16.24 |
| Kanemitsu Ootsu | 4 | 44 | 23.90 |
| Takashi Yokota | 5 | 1 | 0.72 |