ZybotR2-96-fpt19

An UGV-system using SoC-FPGA developed for FPGA design competition held on ICFPT2019.

Our team won first place! 🎉 🎉 🎉

Features

• Localization and Motion Planning are implemented in the UGV-system

  • In the Localization process, observations such as Wheel Odometry are fusioned by Particle Filter
  • In the Motion Planning process, Informed-RRT*, Pure Pursuit, and PID control are used

• Efficient data flow that image data captured by image sensor are processed by FPGA before transferring to DRAM

• Peripheral devices (e.g. DC motor) can be handled transparently from Zynq PS by a system that synchronize registers between multiple FPGAs with UART

• The UGV-system is divided into five layers, and it is descending order of abstraction

Main Parts of The Vehicle

• Avnet Ultra96 V1
• Digilent Cmod A7-35T
• 96Boards MIPI Adapter Mezzanine
• Pcam5C
• Web Camera (Buffalo BSW20KM11BK)
• Stereo Camera (Optor)
• Anker PowerCore+ 26800 PD
• DC Motor/Gearbox (1:53 Gear Ratio)

Repository Structure

A part of this repository structure is shown below:

ZybotR2-96-fpt19
├── assets
│   ├── cad
│   ├── script
│   └── tools
├── cmod-a7
│   └── vivado
│       ├── prj
│       └── src
└── ultra96
    ├── BOOT_FS
    ├── ROOT_FS
    │   ├── app
    │   │   ├── fad
    │   │   └── other
    │   ├── driver
    │   │   ├── cp210x
    │   │   ├── usbserial
    │   │   └── v4l2
    │   ├── dts
    │   ├── firmware
    │   ├── lib
    │   │   ├── control
    │   │   ├── improc
    │   │   ├── optor
    │   │   ├── planner
    │   │   └── zynqpl
    │   └── package
    └── vivado
        ├── ip
        ├── prj
        └── src

• assets/
  • 3DCAD data for the vehicle parts, scripts which install libraries such as OpenCV, and tools are stored
• cmod/vivado/
  • RTL files and scripts which create project are stored
  • A Registers synchronization module, a motor controller, and an OLED controller are implemented
• ultra96/BOOT_FS/
  • Binary files for booting Linux on Ultra96 are stored
  • These files are prepared with reference to ikwzm/ZynqMP-FPGA-Linux
• ultra96/ROOT_FS/app/
  • An application of FAD(FPGA Autonomous Driving), test applications of devices, and so on are stored
• ultra96/ROOT_FS/lib/
  • Shared libraries are stored
  • planner is based on kyk0910/sampling-based-planners
  • optor is prepared with reference to optor-vis/optor_vi-stereo-v1
• ultra96/ROOT_FS/driver/
  • Device drivers are stored
  • v4l2 which is Linux V4L2 driver which deals with the Xilinx VDMA IP is prepared with reference to fixstars/ultra96_design
• ultra96/ROOT_FS/dts/
  • DTS(Device Tree Source) files are stored
  • We reflect some of device information to kernel using Device Tree Overlay which is feature of Linux kernel
• ultra96/ROOT_FS/firmware/
  • A bitstream file and firmware of wireless LAN modules are stored
  • A bitstream file is loaded with FPGA Region which is feature of Linux kernel
• ultra96/ROOT_FS/package/
  • Debian packages of linux-headers and linux-image are stored
  • There are also prepared with reference to ikwzm/ZynqMP-FPGA-Linux
• ultra96/vivado/
  • RTL files, HLS sources, IPs made by Digilent and scripts which create project are stored
  • preimproc module is based on kyk0910/HLS-canny-edge-detection

Future Work

• Offload computation heavy processes such as Informed-RRT*, Particle Filter, path tracking algorithms, and calculating Visual Odometry
• Implement more accurate image recognition algorithms

Links

• 2019 International Conference on Field-Programmable Technology FPGA Design Competition

Authors

• Yuya Kudo
• Atsushi Takada
• Yuta Ishida
• Prof. Tomonori Izumi

References

Y. Kudo, A. Takada, Y. Ishida, and T. Izumi, "An SoC-FPGA-based Micro UGV with Localization and Motion Planning," in Proceedings of 2019 International Conference on Field-Programmable Technology (ICFPT), 2019, pp. 469-472.

License

MIT