AutonomROS: A ReconROS-based Autonomonous Driving Unit

by   Christian Lienen, et al.

Autonomous driving has become an important research area in recent years, and the corresponding system creates an enormous demand for computations. Heterogeneous computing platforms such as systems-on-chip that combine CPUs with reprogrammable hardware offer both computational performance and flexibility and are thus interesting targets for autonomous driving architectures. The de-facto software architecture standard in robotics, including autonomous driving systems, is ROS 2. ReconROS is a framework for creating robotics applications that extends ROS 2 with the possibility of mapping compute-intense functions to hardware. This paper presents AutonomROS, an autonomous driving unit based on the ReconROS framework. AutonomROS serves as a blueprint for a larger robotics application developed with ReconROS and demonstrates its suitability and extendability. The application integrates the ROS 2 package Navigation 2 with custom-developed software and hardware-accelerated functions for point cloud generation, obstacle detection, and lane detection. In addition, we detail a new communication middleware for shared memory communication between software and hardware functions. We evaluate AutonomROS and show the advantage of hardware acceleration and the new communication middleware for improving turnaround times, achievable frame rates, and, most importantly, reducing CPU load.


page 1

page 2

page 6


Automatic Rule Learning for Autonomous Driving Using Semantic Memory

This paper presents a novel approach for automatic rule learning applica...

helyOS: A customized off-the-shelf solution for autonomous driving applications in delimited areas

Microservice Architectures (MSA), known to successfully handle complex s...

Mapping and Optimizing Communication in ROS 2-based Applications on Configurable System-on-Chip Platforms

The robot operating system is the de-facto standard for designing and im...

Transformer-based models and hardware acceleration analysis in autonomous driving: A survey

Transformer architectures have exhibited promising performance in variou...

fpgaDDS: An Intra-FPGA Data Distribution Service for ROS 2 Robotics Applications

Modern computing platforms for robotics applications comprise a set of h...

TZC: Efficient Inter-Process Communication for Robotics Middleware with Partial Serialization

Inter-process communication (IPC) is one of the core functions of modern...

Binary DAD-Net: Binarized Driveable Area Detection Network for Autonomous Driving

Driveable area detection is a key component for various applications in ...

Please sign up or login with your details

Forgot password? Click here to reset