Dynamic Scheduling for Obstacle Avoidance in Mobile Robots

In robotics applications the speed at which a task may be completed is often limited by computation rather than actuator or sensor through-put. This research concerns the eecient threads-based implementation of motor schema-based reactive navigation for mobile robots. One result of this implementation is the insight that best eeort scheduling ooers sig-niicant performance advantages on uni-and multiprocessor architectures over static priority or round-robin scheduling. However, robot safety requires guaranteed rather than best eeort scheduling. Furthermore, low scheduling latency is important, to allow the robot to respond quickly to the real world. This paper presents the design and initial implementation results of a distributed, real-time, multiprocessor, dynamic scheduler ooering both good quality scheduling decisions as well as low scheduling latency for individual tasks. Lastly, based on our results, we present a design for schema-based robot control when higher-level planning tasks 1 are integrated with lower level reactive navigation.