Journal of information and communication convergence engineering

The Korea Institute of Information and Commucation Engineering (한국정보통신학회)
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OSEK/VDX Porting to the Two-Wheel Mobile Robot Based on the Differential Drive Method

  • Le Nguyen, Duy (Department of Electrical, Electronics and Communication, Korea University of Technology and Education) ;
  • Lee, Myung-Eui (Department of Electrical, Electronics and Communication, Korea University of Technology and Education)
  • Received : 2012.07.30
  • Accepted : 2012.09.14
  • Published : 2012.12.31
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Abstract

In this paper, we propose an implementation of a real-time operating system for the two-wheel mobile robot. With this implementation, we have the ability to control the complex embedded systems of the two-wheel mobile robot. The advantage of the real-time operating system is increasing the reliability and stability of the two-wheel mobile robot when they work in critical environments such as military and industrial applications. The real-time operating system which was ported to this implementation is open systems and the corresponding interfaces for automotive electronics (OSEK/VDX). It is known as the set of specifications on automotive operating systems, published by a consortium founded by the automotive industry. The mechanical design and kinematics of the two-wheel mobile robot are described in this paper. The contributions of this paper suggest a method for adapting and porting OSEK/VDX real-time operating system to the two-wheel mobile robot with the differential drive method, and we are also able to apply the real-time operating system to any complex embedded system easily.

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References

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