小型四轴飞行器系统任务实时调度算法的优化

An Improved Task Scheduling Algorithm for small quadcopter

由于小型四轴飞行器工作资源受限(由电池供电),因此对系统任务的调度会直接影响到整个系统的性能。我们对设计并实现的基于小型四轴飞行器的嵌入式实时操作系统内核的任务调度进行了测试。结果表明由于系统采用EDF(最短截止时间调度算法),在任务的执行过程中会存在多次任务抢占导致任务中断的情况,系统性能不佳。因此对其任务调度算法进行改进,用增加阈值的方法减少作业在开始执行的时候所产生的任务抢占。实验结果表明改进后的任务调度算法,系统整体的性能得到了明显的提升。

Due to the battery powered,it's important for small quadcopter to improve the performance of the system scheduling.We test the task scheduling which designs and implements based on the embedded real- time operating system kernel of small quadcopter. The result show the best real-time---EDF, the task will be preempted repeatedly during the task execution.We improve the EDF by increasing the threshold for reducing the overhead of task preemption.The results of experimental show the performance of the system scheduling is improved by using the improved method.