Dynamic Speed and Sensor Rate Adjustment for Mobile Robotic Systems

摘要

Mobile robotic systems must sense constraints imposed by a dynamically changing environment and predictably react to those changes in real-time. Complexity arises in mobile robotic systems because the computing platform travels through the environment with which the system is interacting. These systems have spatio-temporal requirements in the sense that correct behavior is defined in terms of both space and time. The focus of this paper is mobile robotic platforms that must sense their environment and avoid obstacles as they navigate from one point to another. We present a design and analysis methodology for these platforms that integrates spatio-temporal attributes with fixed priority realtime scheduling through the use of zone and processing window abstractions. We propose an algorithm for adjustment of the processing window in order maximize the speed of the robot as it faces obstacles in the environment.