A Study of Sequential Program and Concurrent Program Performance in Line Follower Robot Sensor Acquisition

摘要

Line follower robots use sensors to follows track that may be made of black line on a white surface. In order to get track reading value from the sensors, acquisition process has to be executed. The faster line follower robots sensor acquisition process gets executed, the more responsivethe robots are. Line follower sensor acquisition process can be programmed in either sequential program or concurrent program. However, further researches have to be conducted to determine which type of program leading to more responsive robots. Therefore, this research was conducted by meanof comparing sequential program and concurrent program performance in line follower robot sensors acquisition process, particularly based on the execution time. The results of this research are meant to be used as a consideration for developing robot software. One sequential program and oneconcurrent program had been developed in order to execute acquisition process on eight sensors. In the sequential program the sensors acquisition process gets executed one after another, while in the concurrent program it gets executed simultaneously. Experiments were conducted by runningthe robot on 29 cm track. The execution time of those two programming type had been written to the log and used to analyze the average speed-up value. Five experiments, composed of 13 iteration of acquisition process in each, had been chosen to be analyzed. After the analysis had been carriedout, it can be concluded that concurrent acquisition process needs less execution time with the global average speed-up value in the amount of 1.27388234.