A Case Study of a Real-Time Controller Design for a Car-Like Robot System

In embedded system development, multi-tasks design is often used on real-time OS or interrupt driven environment. The multi-task programming development gives many advantages for developers. However, tasks should be carefully designed and analyzed to grantee that all concurrently running tasks run without missing timing requirements, also known as deadline. In this research, we investigate different types of real-time scheduling schemes and list their advantages and disadvantages. To be more realistic with real-time scheduling, we performed with a real-time kernel simulator and car-like robot and it's fuzzy logic control simulator. Based on these simulation we suggest the proper usage of real-time scheduling