실시간 운영체제에서 관절 공간 궤적 생성

This paper presents an implementation of a smooth path planning method considering physical limits on a real time operatingsystem for a two-wheel mobile robot. A Bezier curve is utilized to make a smooth path considering a robot's positionand direction angle through the defined path. A convolution operator is used to generate the center velocity trajectory totravel the distance of the planned path while satisfying the physical limits. The joint space velocity is computed to drive thetwo-wheel mobile robot from the center velocity. Trajectory planning, velocity command according to the planned trajectory,and monitoring of encoder data are implemented with a multi-tasking system. And the synchronization of tasks is performedwith a real-time mechanism of Event Flag. A real time system with multi-tasks is implemented and the result is comparedwith a non-real-time system in terms of path tracking to the designed path. The result shows the usefulness of a real-timemulti-tasking system to the control system which requires real-time features.