After 5 editions of growing number of participants coming from all over Portugal, the Micro-Rato contest has become a well known mobile robotics contest in the country. It promotes a cross fertilization among teams that is strongly educational, appealing and challenging simultaneously for those more or less skilled. In order to improve the robots performance, the use of a contest simulator during construction is highly desirable. In fact, it allows testing the robot behaviour in parallel with its construction, possibly leading to the early detection of either software or hardware design faults. This paper describes such a simulator that is based on a multi-tasking realtime kernel (HARTIK). The advantages of using such a software infrastructure are also discussed. In particular it allows enforcing the correct temporal behaviour of each simulated robot, leading to a more realistic simulation.
Sistemi Real-Time per il Controllo Automatico: Problemi e Nuove Soluzioni
BUTTAZZO, GIORGIO CARLO
2000-01-01
Abstract
After 5 editions of growing number of participants coming from all over Portugal, the Micro-Rato contest has become a well known mobile robotics contest in the country. It promotes a cross fertilization among teams that is strongly educational, appealing and challenging simultaneously for those more or less skilled. In order to improve the robots performance, the use of a contest simulator during construction is highly desirable. In fact, it allows testing the robot behaviour in parallel with its construction, possibly leading to the early detection of either software or hardware design faults. This paper describes such a simulator that is based on a multi-tasking realtime kernel (HARTIK). The advantages of using such a software infrastructure are also discussed. In particular it allows enforcing the correct temporal behaviour of each simulated robot, leading to a more realistic simulation.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
