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In recent years, robots are required to be autonomous and their roboticsoftware are sophisticated. Robots have a problem of insufficient performance,since it cannot equip with a high-performance microprocessor due tobattery-power operation. On the other hand, FPGA devices can acceleratespecific functions in a robot system without increasing power consumption byimplementing customized circuits. But it is difficult to introduce FPGA devicesinto a robot due to large development cost of an FPGA circuit compared tosoftware. Therefore, in this study, we propose an FPGA component technology foran easy integration of an FPGA into robots, which is compliant with ROS (RobotOperating System). As a case study, we designed ROS-compliant FPGA component ofimage labeling using Xilinx Zynq platform. The developed ROS-component FPGAcomponent performs 1.7 times faster compared to the ordinary ROS softwarecomponent.

Proposal of ROS-compliant FPGA Component for Low-Power Robotic Systems