Krishna, A and Van Schaik, A and Thakur, CS (2021) FPGA Implementation of Particle Filters for Robotic Source Localization. In: IEEE Access, 9 . pp. 98185-98203.
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Abstract
Particle filtering is very reliable in modelling non-Gaussian and non-linear elements of physical systems, which makes it ideal for tracking and localization applications. However, a major drawback of particle filters is their computational complexity, which inhibits their use in real-time applications with conventional CPU or DSP based implementation schemes. The re-sampling step in the particle filters creates a computational bottleneck since it is inherently sequential and cannot be parallelized. This paper proposes a modification to the existing particle filter algorithm, which enables parallel re-sampling and reduces the effect of the re-sampling bottleneck. We then present a high-speed and dedicated hardware architecture incorporating pipe-lining and parallelization design strategies to supplement the modified algorithm and lower the execution time considerably. From an application standpoint, we propose a novel source localization model to estimate the position of a source in a noisy environment using the particle filter algorithm implemented on hardware. The design has been prototyped using Artix-7 field-programmable gate array (FPGA), and resource utilization for the proposed system is presented. Further, we show the execution time and estimation accuracy of the high-speed architecture and observe a significant reduction in computational time. Our implementation of particle filters on FPGA is scalable and modular, with a low execution time of about 5.62~mu texts for processing 1024 particles (compared to 64 ms on Intel Core i7-7700 CPU with eight cores clocking at 3.60 GHz) and can be deployed for real-time applications. © 2013 IEEE.
| Item Type: | Journal Article |
|---|---|
| Publication: | IEEE Access |
| Publisher: | Institute of Electrical and Electronics Engineers Inc. |
| Additional Information: | The copyright for this article belongs to Authors |
| Keywords: | Integrated circuit design; Monte Carlo methods; Robotics, Computational bottlenecks; DSP-based implementation; FPGA implementations; High-speed architectures; Particle filter algorithms; Real-time application; Resource utilizations; Source localization, Field programmable gate arrays (FPGA) |
| Department/Centre: | Division of Electrical Sciences > Electronic Systems Engineering (Formerly Centre for Electronic Design & Technology) |
| Date Deposited: | 01 Dec 2021 14:41 |
| Last Modified: | 01 Dec 2021 14:41 |
| URI: | http://eprints.iisc.ac.in/id/eprint/70033 |
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