Power-aware real-time task scheduling with feedback control for mobile robots

As most mobile robots are powered by batteries, their energy and operation times are limited. Therefore, how to extend the lifespan of the batteries becomes an important problem. In this paper, by applying PID feedback control based on the power model of batteries of mobile robot systems, we propose a power-aware real-time task scheduling technique with feedback control to optimize the lifespan of batteries. In our technique, based on EDF(Earliest Deadline First) scheduling strategy, we first evaluate the scalability of the schedule in the next sampling period, then calculate the regulation of frequency profile by PID control, and finally regulate the quantity of frequency profile on the schedule. We have implemented our technique and conduct experiments using a set of benchmarks. Compared with the EDF and DVS-EDF algorithm [14], the experimental results show that our technique can effectively expends the lifespan of the battery without performance penalty.