A framework to support real-time features of intelligent service robots

In the ubiquitous environment, the real-time features for intelligent service robots are necessary to insure statistical and deterministic quality of service (QoS) guarantees for latency. In this paper, we design and implement the real-time framework for intelligent service robots to support real-time features. The real-time framework with the priority-based real-time scheduling service will be operated on the general operating systems. It resolves a problem that the scheduler of general operating system can't support real-time features. It has been implemented on Windows operating system for providing the QoS guarantees for deterministic real-time robot applications. The performance measurements include both thread's response time and overhead to execute internal function of the real-time framework.