Performance Analysis of Real Time Operating System with General Purpose Operating System for Mobile Robotic System

Abstract

Background/Objectives: The objective of the paper is to analyze the General Purpose Operation System (GPOS) performance with Real Time Operating System(RTOS) using a mobile robot as a real time application. The mobile robot module is implemented on a single board computer having ARM11 as its core. Methods/Statistical Analysis: The method used to calculate response is realfeel method which uses dedicated timer and interrupt to calculate the response. Findings: The response of the mobile robot is calculated by interrupting the mobile robot with some obstacles. Findings:In addition to this, other parameters such as speed, rotations time and precision resulted by the sensor are also calculated. RTOS have an average of 20µs where as GPOS have an average of 102µs of response time in real time environment.Conclusion:The results show that RTOS has better response time than GPOS. The minimum distance required to stop the mobile robot in RTOS is more accurate than GPOS. Compare to GPOS, the RTOS is able to avoid the obstacle collision even for a shorter distance. Keywords: GPOS, Latency Calculation, Mobile Robot, Response Time, RTOS, Single Board Computer