Design and implementation of real-time robot operating system based on freertos

摘要

Abstract With the advancement of artificial intelligence technology, the product of its integration with robots:intelligent robots, is appearing more and more in people’s lives and work. Compared to the single function of industrial robots, intelligent robots have the ability to perceive, recognize and decide on the outside world. In order to achieve these functions, data needs to be collected by various types of sensors, and then processed by various algorithms. The introduction of these modules has increased the complexity of the system. Therefore, in order to reduce the complexity between the functional modules, reducing the coupling between modules, and improving the code reuse rate of the functional modules has become an urgent task. This paper proposes an improved FreeRTOS operating system have a driver layer, a middleware layer, and a functional module layer. The experimental results show that the scheme can support the maximum 2000hz module response frequency and the Topic data throughput rate of 2K Bytes per second.