2P1-A19 RTミドルウェアのリアルタイム拡張

概要

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Modular component-based robot systems require not only an infrastructure for component management, but also scalability as well as real-time properties. Robot Technology (RT)-Middleware is a software platform for such component-based robot systems. Each component in the RT-Middleware, so-called "RT-Component" supporting particular robot functions, is based on Common Object Request Broker Architecture. Unfortunately, RT-Middleware cannot manage real-time information such as periods to guarantee real-time properties. This paper presents the real-time extension of RT-Middleware, which improves real-time performance than conventional RT-Middleware. Our real-time extended RT-Middleware manages the extended RT-Components, which can manage one or multiple tasks with same or different periods. Moreover, we add real-time information to General Inter-ORB Protocol packets for scheduling packets by priority. Experimental evaluations show that our real-time extended RT-Middleware improves schedulability than conventional RT-Middleware.