A scheduling approach for decentralized mobile robot control system

Author

Wargui, M. ; Tadjine, M. ; Rachid, A.

Author_Institution

Lab. des Syst. Automatique, Picardie Univ., Amiens, France

Volume

2

fYear

1997

fDate

7-11 Sep 1997

Firstpage

1138

Abstract

Most existing studies dealing with the scheduling of real-time control systems had neglected time variation in the perception, decision and actions loops of the controlled system, especially when this system is distributed over a broadcast network. In this paper, a distributed mobile robot architecture which takes into account the previous problem is proposed. To this end, a scheduling algorithm which allows one to determine accurately the message interarrival time at each node is developed. An application on a multiplexed field bus, named the controller area network (CAN), is also discussed

Keywords

decentralised control; distributed control; field buses; message passing; mobile robots; parallel architectures; scheduling; controller area network; decentralized control; distributed architecture; message interarrival time; mobile robot; multiplexed field bus; scheduling; time variation; Actuators; Automatic control; Communication system control; Control systems; Delay; Mobile communication; Mobile robots; Robot control; Scheduling algorithm; Time factors;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on

Conference_Location

Grenoble

Print_ISBN

0-7803-4119-8

Type

conf

DOI

10.1109/IROS.1997.655152

Filename

655152