ROS and FPSoC Integration on a Turtlebot 3 Robotic Platform (#1908)

Authors

Cuero Ortega, Jairo David

Cárdenas Herrera, Pedro Fabian

Trespalacios Arismendi, Rony David

Abstract

In this research, we introduce an initial strategy for incorporating Field-Programmable System on a Chip (FPSoC) technology into a Robot Operating System (ROS)-compatible mobile robot, with a focus on the TurtleBot3 platform. The primary objective was to swap the original Raspberry Pi board for an FPSoC board, equipping the robot with a Field-Programmable Gate Array (FPGA) section for enhanced function acceleration through hardware-software co-design. Through a meticulous integration effort, we were able to convert the TurtleBot3 into a working prototype that maintained its essential functionalities while leveraging the advanced capabilities of function acceleration via FPGA. Although this transformation marks an early phase in development, it sets the groundwork for future applications requiring timely processing and efficient sensor data management. The robot's performance remains on par with the initial Raspberry Pi configuration, laying a solid basis for further investigation. The forthcoming research phase will concentrate on the development, application, and evaluation of specific hardware functions utilizing co-design to fully exploit the advantages of FPSoC integration. Our preliminary results and continued research efforts are contributing to the expanding field of study focused on enhancing robotic functionalities for a range of uses, such as autonomous navigation, object detection, and sensor data analysis.