Enhancements of PECOS Embedded Real-Time Component Model for Autonomous Mobile Robot Application
Dayang N. A. Jawawi, Safaai Deris, Rosbi Mamat · IEEE International Conference on Computer Systems and Applications, 2006. · 2006
Recent@, Component-Based Sofiare Enxineering (CBSE) has becoming a poptrlar approach.for developing embedded sofiare. In CBSE, a component model is required to specifY the standards and conventions imposed on developers of components. Indushial cornponent models such as CORBA, CUM and JavaBeans are general!^ not stritable for embedded real-time (ERT) Vstenis. Consequently, a number of component models slritahle for CBSE ofERT sofiare such 0.7 PBO, Koala, PECOS and ReFIex are introduced. Assessments of the PECOS component model were conducted to evaltrate the suitabiliw of PECOS component model for adoption in CRSE of autonomous mobile-robot (AMR) software. The as.~e.ssments emphasize on three requirentent.y: facilitates predictable real-time performance, support for resource constraint systems, and support plarfonn-independent implementation. Three enhancemenlr were proposed for the PECOS component model. These enhancements were implemented on a real m-wheeled mobile robot. and resul~f show that, the PECOS cornponent model together with the proposed modifications can generate application siritable for resource constrained AMR vstem.r, the new mapping of component behavior to tash process can be used to guarantee the nm-time predictabili(v and perjormance, and the new irnplenientation pamework proposed enable plarform independent development of AMR sofiare.