Embedded Operating Systems for Robot

摘要

This paper describes three types of the topology of common architecture of embedded multi-processor system including symmetric and asymmetric homogeneous multi-processor, asymmetric inhomogeneous multi-processor. An embedded operation system composed of processor related object layer and processor unrelated object layer that supports multi-processor is designed to manage multi inhomogeneous processor. Resource exchange access between multi-processor can adopt shared memory. On the basis of TMS320VC5471 EVM, the paper discusses two running model of embedded operation system, that is master-slaver and equilateral model. This paper outline and discuss the rationale for using μCOS and μCLinux as an embedded operating system for mobile robots. The author embarked upon the first installation of μCOS and μCLinux onto a mobile robot based TMS320VC5471 EVM, its success as an embedded operating system for experimental mobile robotics was by no means certain.