Real Time Operating System on embedded linux with ultrasonic sensor for mobile robot

摘要

This research goal is to analyze Real Time Operating System (RTOS) performance on Single Board Computer for wheeled mobile robot. RTOS have better system response than General Purpose Operating System (GPOS), this system response is important for mobile robot, for example mobile robot should stop as soon as possible when the sensor detect the wall. RTOS system analysis on SBC covers several points such as, distance measurement precision resulted by the sensor, the value of latency resulted, and data renewal process due to system interaction on the environment surrounding by ultrasonic sensor. Achieved results show RTOS with Qt-based program and using multithread is well implemented on the SBC, proven by the robot's ability to respond less than 1 second. This result can be accounted as soft real time system. Cyclictest results for proving RTOS and GPOS (General Purpose Operating System) performance shows average latency difference between both systems are up to 300us where RTOS are only 9 us.