Design of a multi-threaded positioning system software architecture for ground mobile robots

被引：0
|
作者：
Zhang, Meng [1 ]
Zhang, Zongfeng [2 ]
Dai, Yanjie [1 ]
Wang, Qing [1 ]
Sun, Wenchuan [3 ]
Hu, Xingwang [3 ]
机构：
[1] State Grid Shandong Elect Power Res Inst, Jinan 250003, Shandong, Peoples R China
[2] State Grid Rizhao Power Supply Co, Jinan 250003, Shandong, Peoples R China
[3] State Grid Shandong Elect Power Co Jinan, Jinan 250003, Shandong, Peoples R China
来源：
2018 5TH INTERNATIONAL CONFERENCE ON INFORMATION SCIENCE AND CONTROL ENGINEERING (ICISCE 2018) | 2018年
关键词：
multi-thread processing; concurrency mechanism; ground mobile robot; integrated positioning system; NAVIGATION; FUSION;
D O I：
10.1109/ICISCE.2018.00150
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a multi-threaded software architecture for integrated positioning system applied in ground mobile robots. The integrated positioning software system is mainly composed of three modules: data analysis, data processing and data transmission. In order to ensure the real-time performance of the system and meet the requirements of multi-sensor and multi-task, the integrated navigation software is designed in a multi-threaded manner, using multiple threads to simultaneously parse and process multi-sensor information and perform data fusion. Practical application effect demonstrates that the multi-threading mechanism can handle the fusion of multi-sensor data concurrently, with excellent real-time performance and robustness.
引用
收藏
页码：699 / 703
页数：5
相关论文
共 50 条
  • [1] Multi-threaded design for a software distributed shared memory system
    Ueng, JC
    Shieh, CK
    Mac, SC
    Lai, AC
    Liang, TY
    [J]. IEICE TRANSACTIONS ON INFORMATION AND SYSTEMS, 1999, E82D (12) : 1512 - 1523
  • [2] An Architecture for Safe and Efficient Multi-threaded Robot Software
    Kazanzides, Peter
    Deguet, Anton
    Kapoor, Ankur
    [J]. 2008 IEEE INTERNATIONAL CONFERENCE ON TECHNOLOGIES FOR PRACTICAL ROBOT APPLICATIONS, 2008, : 89 - 93
  • [3] NOVICE PROGRAMMERS' COPING WITH MULTI-THREADED SOFTWARE DESIGN
    Rashkovits, Rami
    Lavy, Ilana
    [J]. JOURNAL OF INFORMATION TECHNOLOGY EDUCATION-INNOVATIONS IN PRACTICE, 2020, 19 : 75 - 89
  • [4] Verifying Multi-threaded Software with Impact
    Wachter, Bjoern
    Kroening, Daniel
    Ouaknine, Joel
    [J]. 2013 FORMAL METHODS IN COMPUTER-AIDED DESIGN (FMCAD), 2013, : 210 - 217
  • [5] Reproducible Simulation of Multi-Threaded Workloads for Architecture Design Exploration
    Pereira, Cristiano
    Patil, Harish
    Calder, Brad
    [J]. 2008 IEEE INTERNATIONAL SYMPOSIUM ON WORKLOAD CHARACTERIZATION, 2008, : 161 - +
  • [6] A reconfigurable multi-threaded architecture model
    Wallner, S
    [J]. ADVANCES IN COMPUTER SYSTEMS ARCHITECTURE, 2003, 2823 : 193 - 207
  • [7] Tail queues: A multi-threaded matching architecture
    Dosanjh, Matthew G. F.
    Grant, Ryan E.
    Schonbein, Whit
    Bridges, Patrick G.
    [J]. CONCURRENCY AND COMPUTATION-PRACTICE & EXPERIENCE, 2020, 32 (03):
  • [8] Progress in cancellable, multi-threaded, control software
    Shortridge, K.
    Farrell, T. J.
    [J]. SOFTWARE AND CYBERINFRASTRUCTURE FOR ASTRONOMY, 2010, 7740
  • [9] The 'uniform heterogeneous multi-threaded' processor architecture
    Towner, D
    May, D
    [J]. COMMUNICATING PROCESS ARCHITECTURES 2001, 2001, 59 : 103 - 116
  • [10] StrongUpdate: An Immediate Dynamic Software Update System for Multi-threaded Applications
    Zou, Deqing
    Wang, Hao
    Jin, Hai
    [J]. HUMAN CENTERED COMPUTING, HCC 2014, 2015, 8944 : 365 - 379
12345