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http://dx.doi.org/10.5302/J.ICROS.2003.9.10.789

A Study on the Distributed Real-time Mobile Robot System using TCP/IP and Linux  

김주민 (명지대학교 정보제어공학과)
김홍렬 (명지대학교 정보제어공학과)
양광웅 (한국생산기술연구원)
김대원 (명지대학교 정보공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.9, no.10, 2003 , pp. 789-797 More about this Journal
Abstract
An implementation scheme and some improvements are proposed to adopt public-licensed operating system, Linux and de-facto world-wide network standard, TCP/IP into the field of behavior-based autonomous mobile robots. To demonstrate the needs of scheme and the improvement, an analysis is performed on a server/client communication problem with real time Linux previously proposed, and another analysis is also performed on interactions among TCP/IP communications and the performance of Linux system using them. Implementation of behavior-based control architecture on real time Linux is proposed firstly. Revised task-scheduling schemes are proposed that can enhance the performance of server/client communication among local tasks on a Linux platform. A new method of TCP/IP packet flow handling is proposed that prioritizes TCP/IP software interrupts with aperiodic server mechanism as well. To evaluate the implementation scheme and the proposed improvements, performance enhancements are shown through some simulations.
Keywords
linux; TCP/IP; behavior; mobile robot; real time; server/client; packet flow;
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Times Cited By KSCI : 1  (Citation Analysis)
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