Designing an embedded software architecture for a mobile education robot with real-time control on a Raspberry Pi 4 with FPGA-based I/O

Finished: 2022-07-08

BSc assignment

Off-the-shelf robotic platforms for education usually come with operating systems such as ROS that hides real-time control from the user. For courses related to embedded control, a new platform has to be designed that enables students to work on a level much closer to the hardware, while also being cost effective and easy to expand based on different teaching requirements.

In this bachelor project, a further look is taken at the software architecture of such a robotic platform, taking a Raspberry Pi 4 single-board computer and an icoBoard containing an FPGA, to expand on existing work to create a robust software architecture that can work with different types of sensors. This work is to be integrated in a mobile robot that can be used or adapted for educational purposes.