ReconfROS: An approach for accelerating ROS nodes on reconfigurable SoCs
Autor(en): | Eisoldt, Marc Flottmann, Marcel Gaal, Julian Hinderink, Steffen Vana, Juri Tassemeier, Marco Rothmann, Marc Wiemann, Thomas Porrmann, Mario |
Stichwörter: | Computer Science; Computer Science, Hardware & Architecture; Computer Science, Theory & Methods; Engineering; Engineering, Electrical & Electronic; FPGA; FPGA COMPONENTS; Path detection; ROS; SoC; UAV; UGV | Erscheinungsdatum: | 2022 | Herausgeber: | ELSEVIER | Journal: | MICROPROCESSORS AND MICROSYSTEMS | Volumen: | 94 | Zusammenfassung: | In this paper, we present an approach to integrate reconfigurable SoCs into the well known Robot Operating System (ROS) called ReconfROS. Our method allows to implement hardware-accelerated algorithms on FPGAs and integrates them directly into the ROS ecosystem. This allows to combine the established and well tested ROS infrastructure together with low-power hardware acceleration. As a proof-of-concept for this novel integration, we ported an existing image-based path-following algorithm onto an FPGA and tested it on an unmanned ground vehicle (UGV). Evaluations utilizing the FPGA-accelerator directly synthesized from C-code show a three times performance improvement combined with a 15 times reduction of energy per frame. The approach can be easily ported to different hardware platforms based on Xilinx reconfigurable SoCs. |
ISSN: | 0141-9331 | DOI: | 10.1016/j.micpro.2022.104655 |
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geprüft am 13.05.2024