TITLE

Real Time Operating System on Embedded Linux with Ultrasonic Sensor for Mobile Robot

TYPE

Seminars

Abstract

This research goal is to analyze Real Time Operating System (RTOS) performance on Single Board Computer for wheeled mobile robot. RTOS have better system response than General Purpose Operating System (GPOS), this system response is important for mobile robot, for example mobile robot should stop as soon as possible when the sensor detect the wall. RTOS system analysis on SBC covers several points such as, distance measurement precision resulted by the sensor, the value of latency resulted, and data renewal process due to system interaction on the environment surrounding by ultrasonic sensor. Achieved results show RTOS with Qt-based program and using multithread is well implemented on the SBC, proven by the robots ability to respond less than 1 second. This result can be accounted as soft real time system. Cyclictest results for proving RTOS and GPOS (General Purpose Operating System) performance shows average latency difference between both systems are up to 300us where RTOS are only 9 us.

Citation

Wiedjaja, Christian B and Kristofel L. (2014). Real Time Operating System on Embedded Linux with Ultrasonic Sensor for Mobile Robot. International Conference on Industrial Automation, Information and Communications Technology (IAICT 2014), 22-25. Bali, Indonesia: IEEE

Keywords

Ultrasonic Sensor, Pandaboard Single Board Computer, Real Time Operating System, Soft Realtime, Qt, Multithreading.

Published On

International Conference on Industrial Automation, Information and Communications Technology (IAICT 2014)

Author

Wiedjaja

Lektor Kepala

  • Benyamin Christian
  • Luis Kristofel

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