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Real time operating system for mobile robot using PICos18

Wong, Chia Yeak and Zakaria , Mohamad Fauzi and Mhd Poad, Hazwaj (2012) Real time operating system for mobile robot using PICos18. In: Proceeding of National Conference of Electric and Electronic Engineering 2012, 2012.


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The current weakness of the most mobile robot design in term of the program code is not efficient enough due to only single task was executed at one time. The objectives of this project are to implement a PICos18 operating system for a wall follower robot, and to test and analyses the performance of the proposed system. The PICos18 is a real time operating system (RTOS) that based on OSEK/VDX standard. the scopes in this project are; first, the real time scheduling system is focused on fixed pre-emptive scheduling concept. Second, the PIC18F452 microcontroller is used in this project. Third, the maximum tasks of PICos18 operating system are limited to four tasks. In this project, the program was built using the MPLAB IDE and C18 compiler software. All simulations were tested by using Proteus software. The whole program was divided into four tasks and the priority of each task is defined properly in order to achieve the real-time performance. The first task in the program is to control two motors, and their speed and direction will be updated for every 5ms. Second task is LCD display and updated every 200ms. Third task is ultrasonic range sensor for distance measurement. Fourth task is a running light of LED and the running LED will be updated every 100ms. This project proved that the efficiency and performance of wall follower mobile robot using PICos18 are improved.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: PICos18 RTOS; microcontroller PIC18F452; mobile robot
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ210.2-211 Mechanical devices and figures. Automata. Ingenious mechanisms.
Divisions: Faculty of Electrical and Electronic Engineering > Department of Robotic and Mechatronic Engineering
Depositing User: Normajihan Abd. Rahman
Date Deposited: 11 Feb 2015 07:34
Last Modified: 11 Feb 2015 07:34
URI: http://eprints.uthm.edu.my/id/eprint/6136
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