Power-aware real-time task scheduling with feedback control for mobile robots

Bin Wang, Tianmiao Wang, Hongxing Wei, Meng Wang, Zili Shao

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

1 Citation (Scopus)

Abstract

As most mobile robots are powered by batteries, their energy and operation times are limited. Therefore, how to extend the lifespan of the batteries becomes an important problem. In this paper, by applying PID feedback control based on the power model of batteries of mobile robot systems, we propose a power-aware real-time task scheduling technique with feedback control to optimize the lifespan of batteries. In our technique, based on EDF(Earliest Deadline First) scheduling strategy, we first evaluate the scalability of the schedule in the next sampling period, then calculate the regulation of frequency profile by PID control, and finally regulate the quantity of frequency profile on the schedule. We have implemented our technique and conduct experiments using a set of benchmarks. Compared with the EDF and DVS-EDF algorithm [14], the experimental results show that our technique can effectively expends the lifespan of the battery without performance penalty.
Original languageEnglish
Title of host publication2008 3rd IEEE Conference on Industrial Electronics and Applications, ICIEA 2008
Pages1240-1245
Number of pages6
DOIs
Publication statusPublished - 23 Sep 2008
Event2008 3rd IEEE Conference on Industrial Electronics and Applications, ICIEA 2008 - Singapore, Singapore
Duration: 3 Jun 20085 Jun 2008

Conference

Conference2008 3rd IEEE Conference on Industrial Electronics and Applications, ICIEA 2008
CountrySingapore
CitySingapore
Period3/06/085/06/08

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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