Performance analysis of real-time and general-purpose operating systems for path planning of the multi-robot systems

Abstract

In general, modern operating systems can be divided into two essential parts, real-time operating systems (RTOS) and general-purpose operating systems (GPOS). The main difference between GPOS and RTOS is the system istime-critical or not. It means that; in GPOS, a high-priority thread cannot preempt a kernel call. But, in RTOS, a low-priority task is preempted by a high-priority task if necessary, even if it’s executing a kernel call. Most Linux distributions can be used as both GPOS and RTOS with kernel modifications. In this study, two Linux distributions, Ubuntu and Pardus, were analyzed and their performances were compared both as GPOS and RTOS for path planning of the multi-robot systems. Robot groups with different numbers of members were used to perform the path tracking tasks using both Ubuntu and Pardus as GPOS and RTOS. In this way, both the performance of two different Linux distributions in robotic applications were observed and compared in two forms, GPOS, and RTOS.

Mobile Robot Optimal Path Planning in the Configuration Spacebased on Smoothing A*

“…In the case of M3, we are given an environment that requires passing a narrow-structured path, as shown in Figure 2(c). In the case of M3, a start point is given at (5,46) and a goal point at (46,5).…”

“…To simulate a very dense environment. In the case of M4, the start point is given at (5,46) and a goal point at (46,5).…”

“…Robots are developed by performing visual analysis logic to accommodate human needs in determining object orientation, handling moving objects, navigating, and others [3]. One of the robot's needs is to plan its trajectory so it can move as desired, A concept that requires path planning [4] [5]. Path planning is a robotic term used to process the desired movement task, meet the movement constraints, and break it down into individual movements that can optimize some aspects of the movement [6].…”