A fixed-point EKF-SLAM hardware for embedded robotics

• Grant number: 12/20224-8
• Support Opportunities: Scholarships abroad - Research Internship - Scientific Initiation
• Start date: December 15, 2012
• End date: April 14, 2013
• Field of knowledge: Physical Sciences and Mathematics - Computer Science - Computer Systems
• Principal Investigator: Vanderlei Bonato
• Grantee: Leandro de Souza Rosa
• Supervisor: Aravind Dasu
• Host Institution: Instituto de Ciências Matemáticas e de Computação (ICMC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
• Institution abroad: University of Southern California (USC), United States
• Associated to the scholarship: 12/03777-3 - Hw/Sw co-design for fixed point EKF-SLAM, BP.IC

Abstract

Location and mapping are two of the most important capabilities of autonomous mobile robots and an important method of dealing with these problems is the Extended Kalman Filter (EKF - Extended Kalman Filter), which simultaneously maps the environment, estimating a map model , and estimates the position of the robot. In contrast, this algorithm, typically implemented using floating point representation, has a high computational order (O (n^2) where n is the number of map elements) so that, for large maps, the use hardware is high and limiting the performance of the robot. To work around these restrictions, this project aims to explore the Xilinx Zynq platform to implement the EKF-SLAM fixed point in incorporating the results in the main project. (AU)

Scientific publications

(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)

ROSA, LEANDRO DE SOUZA; DASU, ARAVIND; DINIZ, PEDRO C.; BONATO, VANDERLEI. A Faddeev Systolic Array for EKF-SLAM and its Arithmetic Data Representation Impact on FPGA. Journal of Signal Processing Systems for Signal Image and Video Technology, v. 90, n. 3, p. 357-369, MAR 2018. (12/20224-8)