A scheduling for periodic robot software components

In this paper we presented a novel Delta time Scheduling algorithm for periodic Robot Software components. This algorithm dynamically assigns priority to components, by calculating delta time, which is, generally, difference between periods of components of Robot application. Therefore, performance of the time-critical and data-sensitive applications could be improved, especially, when they operate under general OSs such as Windows XP, Linux. We implemented proposed scheme on the OPRoS component execution engine and run under Windows XP. Here we show the performance results, which verify usefulness of Delta time Scheduling algorithm.