A concept of dynamically reconfigurable real-time vision system for autonomous mobile robotics |
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Authors: | Aymeric De Cabrol Thibault Garcia Patrick Bonnin Maryline Chetto |
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Affiliation: | 1. L2TI, University Paris 13, 99 avenue JB Clement, 93430 Villetaneuse, France; 2. IRCCyN, 1 rue de la Noe, BP 92101, 44321 Nantes CEDEX 03, France; 3. LRV, 10-12 Avenue de l'Europe, 78140 Velizy, France |
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Abstract: | This paper describes specific constraints of vision systems that are dedicated to be embedded in mobile robots. If PC-based hardware architecture is convenient in this field because of its versatility, flexibility, performance, and cost, current real-time operating systems are not completely adapted to long processing with varying duration, and it is often necessary to oversize the system to guarantee fail-safe functioning. Also, interactions with other robotic tasks having more priority are difficult to handle. To answer this problem, we have developed a dynamically reconfigurable vision processing system, based on the innovative features of Cleopatre real-time applicative layer concerning scheduling and fault tolerance. This framework allows to define emergency and optional tasks to ensure a minimal quality of service for the other subsystems of the robot, while allowing to adapt dynamically vision processing chain to an exceptional everlasting vision process or processor overload. Thus, it allows a better cohabitation of several subsystems in a single hardware, and to develop less expensive but safe systems, as they will be designed for the regular case and not rare exceptional ones. Finally, it brings a new way to think and develop vision systems, with pairs of complementary operators. |
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Keywords: | Real-time vision dynamic reconfiguration embedded systems robustness real-time operating system. |
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