Improving timing predictability in UGV control systems through FPGA implementation

Abstract

In the design of network-based control systems, network delays and bandwidth variations must be carefully taken into account. In order for the performance of these systems to be optimized, it is necessary to minimize loop delay, and to make it as predictable as possible. In this work, an FPGA implementation is proposed to improve predictability, while at the same time reducing loop delay, in a control system for Unmanned Ground Vehicles in the context of an intelligent space environment. Experimental results are presented demonstrating the significant improvements that can be achieved with regard to the existing PC-based solution. Future improvements that can be obtained from the use of advanced features and resources of FPGAs are also identified.