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Real-time control architecture using Xenomai for intelligent service robots in USN environments

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Abstract

This paper describes the implementation of a dual-kernel software architecture, based on standard Linux and real-time embedded Linux, for real-time control of service robots in ubiquitous sensor network environments. Mobile robots are used in active service for the assisted living of elderly people, monitoring their mental and physiological data with wireless sensor nodes. The data collected from sensor nodes are routed back to a sink node through multi-hop communication. The moving sink node installed on the main controller of the robot collects data and transmits it to the main controller. To be able to handle emergency situations, the robot needs to satisfy real-time requirements when processing the data collected, and invoking tasks to execute. This paper realizes a multi-hop sensor network and proposes real-time software architecture based on Xenomai. The real-time tasks were implemented, with priority, to rapidly respond to urgent sensor data. In order to validate the deterministic response of the proposed system, the performance measurements for the delay in handling the sensed data transmission and the trajectory control with a feedback loop were evaluated on the non real-time standard Linux.

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Authors and Affiliations

  1. Department of Electrical Engineering, Seoul National University of Technology, 172 Gongreoung 2-dong, Nowon-gu, Seoul, 139-743, South Korea

    Byoung Wook Choi & Soo Yeong Yi

  2. Robotstar Co., Ltd., 119-38, Sasa-dong, Sangnok-gu, Ansan, Gyeonggi-do, 426-220, South Korea

    Dong Gwan Shin

  3. DasaRobot Co., Ltd., 401 Yakdae-dong, Wonmi-gu, Bucheon, Gyeonggi-do, 420-734, South Korea

    Jeong Ho Park

  4. School of Mechanical and Aerospace Engineering, Nanyang Technological University, Nanyang Ave., Singapore, 639798, Singapore

    Seet Gerald

Authors
  1. Byoung Wook Choi
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  2. Dong Gwan Shin
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  3. Jeong Ho Park
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  4. Soo Yeong Yi
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  5. Seet Gerald
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Correspondence to Byoung Wook Choi.

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Choi, B.W., Shin, D.G., Park, J.H. et al. Real-time control architecture using Xenomai for intelligent service robots in USN environments. Intel Serv Robotics 2, 139–151 (2009). https://doi.org/10.1007/s11370-009-0040-0

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  • DOI: https://doi.org/10.1007/s11370-009-0040-0

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