RTOS-based software architecture for multisensor fusion system

摘要

In this paper, software architecture for multisensor fusion system (MFS) in dynamic environment is described. The architecture has the characteristics of robustness, dynamically reconfigurable framework, "plug-in-play" for sensor, and predictability of sensor action. According to requirements of MFS, the real-time operating system (RTOS) is applied in this software architecture. The result is an RTOS-based software architecture, which consists of five kinds of tasks: sensor sampling task (SST), sensor data processing task (SDPT), fusion task (FT), management task (MT) and man/machine interface task (MMIT). A calligraphic robot has been designed and developed in our lab based on the software architecture proposed. The application of the architecture makes the sensor management of the calligraphic robot system easy.