FPSoC Integration in ROS-Enabled Mobile Robots for Enhanced Functionality

In this study, we present a preliminary approach to the integration of Field-Programmable System on a Chip (FPSoC) technology into a Robot Operating System (ROS)-enabled mobile robot, specifically a TurtleBot3 platform. Our goal was to replace the original Raspberry Pi board with an FPSoC board, thereby providing the robot with access to a Field-Programmable Gate Array (FPGA) block for accelerating functions through codesign. Through a carefully executed integration process, we successfully transformed the TurtleBot3 into a functional prototype that retained its core operational features while harnessing the enhanced capabilities offered by hardware function acceleration. Despite the successful transformation of the robot, this study represents a preliminary stage of development but it paves the way for applications that demand real-time responsiveness and efficient processing of sensor data. The robot operates at a level consistent as the original setup with the Raspberry Pi board, providing a foundation for further exploration. Our next phase of research will focus on designing, implementing, and testing specific hardware functions through codesign to realize the full potential of the FPSoC integration. Our findings and ongoing efforts contribute to the growing body of research aimed at advancing robotics capabilities for various applications, including autonomous navigation, object recognition, and sensor data processing.