【摘要】 设计并实现了一种基于多处理器的深海采矿实时调度控制系统,结合实时操作系统uC/OS-II对深海机器人的轨迹规划、避障、故障监测等基本任务进行划分,将划分好的任务在多处理器系统中采用基于优先级表HVF调度算法实现全局动态调度。并在深海采矿多处理器控制系统中验证了算法设计,阐述了嵌入式系统用于深海采矿研究的有效性。更多还原

【Abstract】 The paper designs and realizes a deep-sea mining real-time dispatch control system based on multiple processors.The system combining with real-time operating system uC/OS-II divides deepwater robot’s basic tasks such as trajectory planning and barrier avoidance.The divided tasks used HVF Scheduling Algorithm based on priority table to realize whole dynamic scheduling on multiprocessor system.The author proved the algorithm design in deep-sea mining control system.The study investigated embedded system that was applied to deep-sea mining.更多还原