RT-Est: Real-Time Operating System for Semi-fixed-Priority Scheduling Algorithms

Hiroyuki Chishiro, N. Yamasaki
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引用次数: 14

Abstract

This paper presents RT-Est, which is a real-time operating system for semi-fixed-priority scheduling algorithms. RT-Est implements the following mechanisms: (i) the hybrid O(1) scheduler, which is an extension of the O(1) scheduler in Linux kernel 2.6, to achieve semi-fixed-priority scheduling with low overhead, (ii) the high resolution timer, which performs to terminate optional parts at optional deadlines, (iii) SIM, which is an architecture for simulating real-time scheduling. Experimental evaluations show that semi-fixed-priority scheduling is well suited to autonomous mobile robots.
RT-Est:半固定优先级调度算法的实时操作系统
RT-Est是一种半固定优先级调度算法的实时操作系统。RT-Est实现了以下机制:(i)混合O(1)调度器,它是Linux内核2.6中O(1)调度器的扩展,以低开销实现半固定优先级调度;(ii)高分辨率计时器,它执行在可选的截止日期终止可选部件;(iii) SIM,它是模拟实时调度的架构。实验结果表明,半固定优先级调度方法适用于自主移动机器人。
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