A Case Study of a Real-Time Controller Design for a Car-Like Robot System

Author

Song, Insop ; Karray, Fakhreddine ; Masmoudi, Med S. ; Li, Howard ; Guedea, Federico

Author_Institution

Dept. of Syst. Design Eng., Waterloo Univ., Ont.

fYear

2005

fDate

27-29 June 2005

Firstpage

802

Lastpage

807

Abstract

In embedded system development, multi-tasks design is often used on real-time OS or interrupt driven environment. The multi-task programming development gives many advantages for developers. However, tasks should be carefully designed and analyzed to grantee that all concurrently running tasks run without missing timing requirements, also known as deadline. In this research, we investigate different types of real-time scheduling schemes and list their advantages and disadvantages. To be more realistic with real-time scheduling, we performed with a real-time kernel simulator and car-like robot and it´s fuzzy logic control simulator. Based on these simulation we suggest the proper usage of real-time scheduling

Keywords

control system CAD; embedded systems; fuzzy control; mobile robots; processor scheduling; task analysis; car-like robot system; embedded system development; fuzzy logic control simulator; multi-task programming development; real-time controller design; real-time scheduling schemes; Computer aided software engineering; Control systems; Dynamic scheduling; Embedded system; Fuzzy logic; Kernel; Processor scheduling; Real time systems; Robot programming; Timing;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control, 2005. Proceedings of the 2005 IEEE International Symposium on, Mediterrean Conference on Control and Automation

Conference_Location

Limassol

ISSN

2158-9860

Print_ISBN

0-7803-8936-0

Type

conf

DOI

10.1109/.2005.1467117

Filename

1467117