Dynamic speed and sensor rate adjustment for mobile robotic systems

Ala Qadi, Steve Goddard, Jiangyang Huang, Shane Farritor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

Mobile robotic systems must sense constraints imposed by a dynamically changing environment and predictably react to those changes in real-time. Complexity arises in mobile robotic systems because the computing platform travels through the environment with which the system is interacting. These systems have spatio-temporal requirements in the sense that correct behavior is defined in terms of both space and time. The focus of this paper is mobile robotic platforms that must sense their environment and avoid obstacles as they navigate from one point to another. We present a design and analysis methodology for these platforms that integrates spatio-temporal attributes with fixed priority real-time scheduling through the use of zone and processing window abstractions. We propose an algorithm for adjustment of the processing window in order maximize the speed of the robot as it faces obstacles in the environment.

Original languageEnglish (US)
Title of host publicationProceedings - 19th Euromicro Conference on Real-Time Systems, ECRTS 2007
Pages93-102
Number of pages10
DOIs
Publication statusPublished - Oct 23 2007
Event19th Euromicro Conference on Real-Time Systems, ECRTS 2007 - Pisa, Italy
Duration: Jul 4 2007Jul 6 2007

Publication series

NameProceedings - Euromicro Conference on Real-Time Systems
ISSN (Print)1068-3070

Conference

Conference19th Euromicro Conference on Real-Time Systems, ECRTS 2007
CountryItaly
CityPisa
Period7/4/077/6/07

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ASJC Scopus subject areas

  • Software
  • Hardware and Architecture

Cite this

Qadi, A., Goddard, S., Huang, J., & Farritor, S. (2007). Dynamic speed and sensor rate adjustment for mobile robotic systems. In Proceedings - 19th Euromicro Conference on Real-Time Systems, ECRTS 2007 (pp. 93-102). [4271684] (Proceedings - Euromicro Conference on Real-Time Systems). https://doi.org/10.1109/ECRTS.2007.89