A novel multi-OS architecture for robot application

摘要

In this paper we present a new multi-OS architecture designed particularly for SMP platform that run RTOS and GPOS on different CPUs. No modification is needed on the GPOS side. With this architecture we can achieve high performance with little engineering cost. A prototype multi-OS called RGMP (RTOS and GPOS on Multi-Processor) has been implemented using Linux as GPOS and μC/OS-II as RTOS to verify its feasibility. The result shows it is faster than RTAI and two OSes won''t affect each other. The applications of RGMP co-operating with ROS on robots are also illustrated.