Evaluation of the Komodo microcontroller and the OSA+ middleware using an autonomous guided vehicle

The main focus of this work is to evaluate and study the real-time properties of the Komodo Java microcontroller and the OSA+ middleware in a non-trivial real-world example. We describe an approach to control an autonomous guided vehicle (AGV) by the Komodo microcontroller, a multi-threaded Java microcontroller. The main challenge is that the microcontroller has to meet hard real-time constraints to ensure a faultless drive. Then we show that we are also able to run the AGV using a real-time middleware and we measure the overhead in time and memory introduced by the middleware