Real-Time Systems Evaluation for Robotics Using the Hart-ROS Benchmark

M. Pinto, A. Oliveira, M. A. Wehrmeister
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引用次数: 3

Abstract

Robotic systems frequently have features that make them to operate in a real-time system (RTS). Therefore, it is proposed a benchmark whose objective is the real-time performance evaluation of a system configuration for use in robotics. The system to be evaluated must provide some kind of fixed-priority preemptive scheduling. The publisher/subscriber paradigm is used to evaluates the real-time communication performance, because it is considered widely accepted in robotics community. If the RTS does not contain the paradigm natively, it must be implemented using one of its APIs (Application Programming Interface). The performance evaluation is made inscreasing some system parameter and veryfing if the tasks do not lose deadlines. As case study, a RTS configuration was developed in an embedded system using Linux coupled to a realtime co-kernel. The results obtained in this case study present the benchmark practical value and the viability of the developed configuration as a real-time robotics controller.
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基于Hart-ROS基准的机器人实时系统评估
机器人系统通常具有使其在实时系统(RTS)中运行的功能。因此,提出了一种基准,其目标是对机器人应用中的系统配置进行实时性能评估。待评估的系统必须提供某种固定优先级的抢占式调度。发布者/订阅者模式被用来评估实时通信性能,因为它被机器人社区广泛接受。如果RTS本身不包含范式,则必须使用其api(应用程序编程接口)之一来实现它。在任务不丢失期限的情况下,增加一些系统参数并对其进行性能评估。作为案例研究,我们在一个嵌入式系统中使用与实时协同内核耦合的Linux开发了一个RTS配置。本案例研究的结果表明,所开发的结构作为实时机器人控制器具有一定的实用价值和可行性。
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