MULTI-PROCESSOR DISTRIBUTED REAL-TIME CONTROL SOFTWARE ARCHITECTURE FOR INTELLIGENT ROBOTS

摘要

PURPOSE: A multi-processor for an intelligent robot including dispersion real time control software is provided to effectively allocate complex and various robot control programs to plural processors and plural cores by using the multi-processor of a multi-core. CONSTITUTION: A planning layer(70) plans missions. A sequential processing layer(60) includes tasks for controlling and moving robots. A real-time response layer(35) includes a sensing unit which embodies a real-time work, a control-action unit, and an operating unit. The planning layer, the sequential processing layer, and the real-time response layer are allocated to each core of a multi-processor and exchanges data through a network in real time. The real-time response layer includes a network unit including a network driver.