一种面向节能机器人实时操作系统的调度算法研究

Energy-saving Oriented Scheduling Algorithm for Robot Real-time Operating System

提出了基于多核处理器电压频率岛的节能调度方法,用来解决机器人实时操作系统中处理器在运行周期性任务和非周期任务时电压频率分配问题,且保证周期性任务能在截止时间之前完成,非周期任务有可接受的响应时间。本文设计的节能调度算法可以有效减少动态能耗和静态能耗,还可以提高处理器核的整体利用率。实验结果表明,本文提出的算法与其他算法相比,有较好的节能效果,至少能降低27%的能耗。

An energy-saving scheduling algorithm based on multi-core processor voltage and frequency island is proposed to solve the problem of voltage-frequency allocation for periodic tasks and aperiodic tasks in real-time operating system.Periodic tasks can be guaranteed to be completed before the deadline,and aperiodic tasks achieve acceptable response time.The energy-saving scheduling algorithm can effectively reduce the dynamic and static energy consumption,and also improve the overall usage of the processor core.The experiment results show that the proposed algorithm has better energy-saving effect than other algorithms,it can reduce energy consumption by at least 27%.