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Author(s): Jose Carlos Sá
João Canas Ferreira
José Carlos Alves
Title: FPGA implementation of autonomous navigation algorithm with dynamic adaptation of quality of service
Issue Date: 2013
Abstract: The main goal of this work is to build an hardware-aided autonomous navigation system based on real-time stereo images and to study Partial Reconfiguration aspects applied to the system. The system is built on an reconfigurable embedded development platform consisting of an IBM PowerPC 440 processor embedded in a Xilinx Virtex-5 FPGA to accelerate the most critical task. Three Reconfigurable Units were incorporated in the designed system architecture. The dynamic adjustment of systems quality of service was achieved by using different reconfiguration strategies to match vehicle speed. A speedup of 2 times for the critical task was obtained, compared with a software-only version. For larger images, the same implementation would achieve an estimated speedup of 2.5 times.
Subject: Engenharia electrotécnica, electrónica e informática
Electrical engineering, Electronic engineering, Information engineering
Scientific areas: Ciências da engenharia e tecnologias::Engenharia electrotécnica, electrónica e informática
Engineering and technology::Electrical engineering, Electronic engineering, Information engineering
Source: Actas IX Jornadas sobre Sistemas Reconfiguráveis
Document Type: Artigo em Livro de Atas de Conferência Nacional
Rights: openAccess
Appears in Collections:FEUP - Artigo em Livro de Atas de Conferência Nacional

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