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Experiences with Soft Real-Time, Multithreaded Control of a Mobile Robot (1998)
BibTeX
@MISC{Beccari98experienceswith,
author = {Giuseppe Beccari and Stefano Caselli and Francesco Zanichelli and Luigi Capuzzello},
title = {Experiences with Soft Real-Time, Multithreaded Control of a Mobile Robot},
year = {1998}
}
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Abstract
The paper reports on the experience we are gaining on the soft-real time, multithreaded control of our Nomad 200 mobile robot. Linux-based POSIX scheduling and multithreading have been evaluated by quantitative assessments and extensively exploited in the organization of Nomad control software. Fine-grained concurrency, efficient data sharing, and real preemption have proven crucial for the implementation of low-level behaviors and other higher-level tasks responsible for robot navigation. Based on the multi-threaded real-time control architecture, the mobile robot has the ability to explore, map, and navigate office environments using sonars and infrared sensors, at up to 20 cm/s navigation speed and 10 Hz sensor interpretation rate. 1 Introduction One of the key issues in automonous robotics research concerns the definition of the logical architecture of the control software. While it is increasingly recognized the effectiveness of layered, hybrid architectures [1, 2, 3], (de)coupl...
Keyphrases
mobile robot soft real-time multithreaded control cm navigation speed hz sensor interpretation rate real preemption low-level behavior infrared sensor soft-real time linux-based posix scheduling higher-level task efficient data sharing hybrid architecture quantitative assessment nomad control software multi-threaded real-time control architecture paper report key issue logical architecture robot navigation fine-grained concurrency automonous robotics research control software navigate office environment
