이심이100 AUV의 RTOS 없는 실시간 처리

Abstract

This paper presents a real-time process with no commercial RTOS (Real-Time Operating System) for the ISiMI100 AUV (Autonomous Underwater Vehicle) which was developed by KORDI (Korea Ocean Research and Development Institute). Recent AUVs have complex control architecture for intelligent cruising, so their control software consists of many tasks or threads. To guarantee each task to be executed in time, many AUVs use a RTOS such as VxWorks, QNX, RTX and Windows CE and RTLinux. However, if a RTOS is used for an AUV, its control architecture will be dependent on the RTOS. In addition, if the RTOS is commercial, the production cost will increase significantly because its price usually is expensive. Though the ISiMI100 AUV does not use any RTOS, but it can execute each task periodically in time. There is no thread except communication module when the ISiMI100 AUV software is running. This means that the execution is sequential. The sequential method prevents an irregular task execution in case of multitask environment. have complex control architecture for intelligent cruising, so their control software consists of many tasks or threads. To guarantee each task to be executed in time, many AUVs use a RTOS such as VxWorks, QNX, RTX and Windows CE and RTLinux. However, if a RTOS is used for an AUV, its control architecture will be dependent on the RTOS. In addition, if the RTOS is commercial, the production cost will increase significantly because its price usually is expensive. Though the ISiMI100 AUV does not use any RTOS, but it can execute each task periodically in time. There is no thread except communication module when the ISiMI100 AUV software is running. This means that the execution is sequential. The sequential method prevents an irregular task execution in case of multitask environment.