Real-Time Systems Evaluation for Robotics Using the Hart-ROS Benchmark

摘要

Robotic systems frequently have features that make them to operate in a real-time system (RTS). Therefore, it is proposed a benchmark whose objective is the real-time performance evaluation of a system configuration for use in robotics. The system to be evaluated must provide some kind of fixed-priority preemptive scheduling. The publisher/subscriber paradigm is used to evaluates the real-time communication performance, because it is considered widely accepted in robotics community. If the RTS does not contain the paradigm natively, it must be implemented using one of its APIs (Application Programming Interface). The performance evaluation is made inscreasing some system parameter and veryfing if the tasks do not lose deadlines. As case study, a RTS configuration was developed in an embedded system using Linux coupled to a realtime co-kernel. The results obtained in this case study present the benchmark practical value and the viability of the developed configuration as a real-time robotics controller.