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