AN FPGA BASED SOC DESIGN FOR AN AUTONOMOUS VEHICLE

Project Title

AN FPGA BASED SOC DESIGN FOR AN AUTONOMOUS VEHICLE

Project Area of Specialization Electrical/Electronic EngineeringProject Summary

The project focuses on design of an autonomous vehicle which is capable of building the map of any unknown environment and localize itself within the environment using Simultaneous Localization and Mapping (SLAM) algorithm. This implementation will be done on Zynq-7020 System-on-Chip (SoC) called as PYNQ which consists of an ARM processor and Xilinx 7020 FPGA. The vehicle should also be capable of Autonomous navigation so for this purpose Neo 6m GPS module is used along with Arduino/Raspberry Pi through which it can position itself and navigate to reqiured position. The obstacle avoidance will be performed using LiDAR sensor and ultrasonic sensors. 

Project Objectives

The project has following objectives.

1) To make an autonomous vehicle which can navigate to any specified position.

2) The vehicle should be capable of building map of any unknown environment and avoid the obstacles which may come in its way.

3) The implementation of this algorithm to be done on a System on Chip (SoC) such as PYNQ board.

4) The part of algorithm to be implemented on ARM processor and then will be accelerated using an FPGA.

5) The vehicle should be cost effective and compact in size.

Project Implementation Method

A LiDAR sensor is used to get the information of surroundings and encoders are used to generate the odometry details. Using this information, the SLAM algorithm builds the map of environment and localizes the vehicle in that environment. As the robot moves the map builds itself, giving the map and information of surroundings. At the same time, the GPS module is capturing the coordinates from satellites and matching them with the required coordinates to which the vehicle should navigate. The vehicle will keep moving and avoiding all obstacles which comes in its way using the ultrasonic sensors until the required coordinates are reached. The SLAM algorithm part is implemented on PYNQ System on Chip (SoC) while the navigation portion is implemented on Arduino/Raspberry Pi. 

Benefits of the Project

The project will be beneficial as it is composed of two latest technologies

1) Self-driving cars

2) System on Chips

Both these technologies are highly beneficial in future as the developed countries are working continuously in both these domains and will help Pakistani industry to compete in near future.

Technical Details of Final Deliverable

The final deliverable will be a vehicle which will be equipped with LiDAR sensors and ultrasonic sensors which will sense the environment for creation of map and avoiding the obstacles. Further, the implementation of this project on PYNQ is highly beneficial. It is one of latest SoC available in market having Python integrity. The technical concept of self driving cars and SoC is of a great value for future endeavours of Pakistani Industry.

Final Deliverable of the Project Hardware SystemCore Industry TransportationOther IndustriesCore Technology RoboticsOther TechnologiesSustainable Development Goals Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	48046
PYNQ board	Equipment	1	31396	31396
Arduino Mega	Equipment	1	3700	3700
Motor with encoders	Equipment	2	1250	2500
GPS module	Equipment	1	1500	1500
Wheels	Equipment	2	500	1000
Battery	Equipment	1	1500	1500
Ultrasonic Sensor	Equipment	3	250	750
Robot Chassis	Equipment	1	2500	2500
Motor Driver	Equipment	1	400	400
Nuts/Bolts	Miscellaneous	1	1000	1000
Drilling	Miscellaneous	1	1000	1000
Breadboard	Miscellaneous	1	300	300
Wires/connectors	Miscellaneous	1	500	500