Journal article
Global Control of Robotic Highway Safety Markers: A Real-time Solution
Real-time systems, Vol.29(2-3), pp.183-204
03/2005
DOI: 10.1007/s11241-005-6884-y
Abstract
This paper presents the design and implementation of a real-time solution for the global control of robotic highway safety markers. Problems addressed in the system are: (1) poor scalability and predictability as the number of markers increases, (2) jerky movement of markers, and (3) misidentification of safety markers caused by objects in the environment. An extensive analysis of the system and two solutions are offered: a basic solution and an enhanced solution. They are built respectively upon two task models: the periodic task model and the variable rate execution (VRE) task model. The former is characterized by four static parameters: phase, period, worst case execution time and relative deadline. The latter has similar parameters, but the parameter values are allowed to change at arbitrary times. The use of real-time tasks and scheduling techniques solve the first two problems. The third problem is solved using a refined Hough transform algorithm and a horizon scanning window. The approach decreases the time complexity of traditional implementations of the Hough transform with only slightly increased storage requirements. © 2005 Springer Science + Business Media, Inc.
Details
- Title: Subtitle
- Global Control of Robotic Highway Safety Markers: A Real-time Solution
- Creators
- Jiazheng Shi - University of Nebraska–LincolnSteve Goddard - University of Nebraska–LincolnAnagh Lal - University of Nebraska–LincolnJason Dumpert - University of Nebraska–LincolnShane Farritor - University of Nebraska–Lincoln
- Resource Type
- Journal article
- Publication Details
- Real-time systems, Vol.29(2-3), pp.183-204
- DOI
- 10.1007/s11241-005-6884-y
- ISSN
- 0922-6443
- eISSN
- 1573-1383
- Language
- English
- Date published
- 03/2005
- Academic Unit
- Computer Science
- Record Identifier
- 9984259404102771
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