Time response for sensor sensed to actuator response for mobile robotic system

[摘要] Time and performance of a mobile robot are very important in completing the tasks given to achieve its ultimate goal. Tasks may need to be done within a time constraint to ensure smooth operation of a mobile robot and can result in better performance. The main purpose of this research was to improve the performance of a mobile robot so that it can complete the tasks given within time constraint. The problem that is needed to be solved is to minimize the time interval between sensor detection and actuator response. The research objective is to analyse the real time operating system performance of sensors and actuators on one microcontroller and on two microcontroller for a mobile robot. The task for a mobile robot for this research is line following with an obstacle avoidance. Three runs will be carried out for the task and the time between the sensors senses to the actuator responses were recorded. Overall, the results show that two microcontroller system have better response time compared to the one microcontroller system. For this research, the average difference of response time is very important to improve the internal performance between the occurrence of a task, sensors detection, decision making and actuator response of a mobile robot. This research helped to develop a mobile robot with a better performance and can complete task within the time constraint.

[发布机构] Department of Mechatronics, Kulliyyah of Engineering, International Islamic University Malaysia, Jalan Gombak, Kuala Lumpur; 53100, Malaysia^1

[效力级别] 无线电电子学

[关键词] Average difference;Internal performance;Microcontroller systems;Mobile robotic systems;Real time operating system;Research objectives;Sensors and actuators;Time constraints