| Autor: |
Wang, Zilong, Liu, Songran, Ji, Dong, Yi, Wang |
| Předmět: |
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| Zdroj: |
Electronics (2079-9292); May2024, Vol. 13 Issue 9, p1658, 18p |
| Abstrakt: |
Micro-ROS is widely used to bridge the performance gap between resource-constrained microcontrollers and powerful computing devices in ROS-based robotic applications. After modeling the callback scheduling module and the communication module in micro-ROS, we found that there are some design flaws that significantly impact the real-time performance of micro-ROS. To improve the timing predictability and run-time efficiency of micro-ROS, we design and implement a priority-driven chain-aware scheduling system (PoDS) based on the existing micro-ROS architecture. The experimental results demonstrate that our proposed PoDS exhibits significantly improved real-time performance compared to the default micro-ROS. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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