MPSoC4Drones: An Open Framework for ROS2, PX4, and FPGA Integration

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Abstrakt

Autonomous drones are facing a tough efficiency challenge due to limitations on the utilized processing hardware units. Among these limitations is the tradeoff between fast computing and low power consumption; between functional complexity and flight time. Recent progressions point to FPGAs for accelerating heavy processing. In this work, we present the MPSoC4Drones Framework; a novel framework for organizing FPGA-design and OS build projects. The framework combines tools for creating bootable images for the Ultra96-V2 board.We show how MPSoC4Drones organizes the build, combining the latest well-known tools for research and industrial drone development, Ubuntu 20.04, PX4 autopilot, and ROS2 middleware. We validate the framework through a computationally intensive deep learning use case implemented in the MPSoC4Drones framework. We show the superior throughput and low power consumption of FPGA processing compared to classical CPU and GPU approaches. Finally, we offer the full framework as open-source.

OriginalsprogEngelsk
Titel2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022
Antal sider10
ForlagIEEE
Publikationsdato2022
Sider1246-1255
ISBN (Elektronisk)9781665405935
DOI
StatusUdgivet - 2022
Begivenhed2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022 - Dubrovnik, Kroatien
Varighed: 21. jun. 202224. jun. 2022

Konference

Konference2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022
Land/OmrådeKroatien
ByDubrovnik
Periode21/06/202224/06/2022

Bibliografisk note

Funding Information:
ACKNOWLEDGEMENTS This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 861111, Drones4Safety.

Funding Information:
This project has received funding from the European Union's Horizon 2020 research and innovation programme under grant agreement No 861111

Publisher Copyright:
© 2022 IEEE.

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