Improving Real-Time Performance of Micro-ROS with Priority-Driven Chain-Aware Scheduling

被引：0

作者：

Wang, Zilong ^{[1
]}

Liu, Songran ^{[1
]}

Ji, Dong ^{[1
]}

Yi, Wang ^{[1
]}

机构：

[1] Northeastern Univ, Sch Comp Sci & Engn, Shenyang 110819, Peoples R China

来源：

ELECTRONICS | 2024年 / 13卷 / 09期

关键词：

micro-ROS; priority-driven; chain-aware; real-time performance;

D O I：

10.3390/electronics13091658

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页数：18