Abstract
This paper presents the design of a line following Arduino-based mobile robot for Real-Time Embedded System course at Universiti Tun Hussein Onn Malaysia. The real-time system (RTS) concept was implementing is based on rate monotonic scheduling (RMS) on an ATmega328P microcontroller. Three infrared line sensors were used as input for controlling two direct current (DC) motors. A RTS software was programmed in Arduino IDE which relied on a real-time operating system (RTOS) of ChibiOS/RT library. Three independent tasks of software functions were created for testing real-time scheduling capability and the result of temporal scope was collected. The microcontroller succeeded to handle multiple tasks without missed their dateline. This implementation of the RTOS in embedded system for mobile robotics system is hoped to increase students understanding and learning capability.
Highlights
Real-time embedded systems can be found in many technology systems such as smartphones, home appliances, terrestrial transport systems, factory machinery control and bank transaction systems [1]
A knowledge and skill for designing and implementing a real-time system concept are essential needed by mechatronics engineer to produce the robust and reliable product
The aim of this paper is to illustrate the Arrow-bot design and implementation for line following application based on real time system concept
Summary
Real-time embedded systems can be found in many technology systems such as smartphones, home appliances, terrestrial transport systems, factory machinery control and bank transaction systems [1]. A knowledge and skill for designing and implementing a real-time system concept are essential needed by mechatronics engineer to produce the robust and reliable product. Faculty of Electrical and Electronic Engineering in Universiti Tun Hussein Onn Malaysia (UTHM) offers a real-time embedded system course every semester to undergraduate mechatronics students. The goal of this course is to establish a comprehensive understanding of the concept, technique, and analysis of a real-time embedded system. A mobile robot was selected to be a teaching tool for exposing to the student on how to design and implement real-time system concept in embedded microcontroller system
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