ROS Task Scheduling Algorithm in Multi-Core System

This paper designs a task scheduling algorithm called RTSA (ROS Task Scheduling Algorithm) for Linux kernel in allusion to the inherent relevance and mapping relationship of ROS under the development framework of ROS and Linux, considering multiple factors such as multi-core load, task computational overhead, communication overhead. This paper uses simulation to verify the correctness of RTSA, and compares RTSA with the Round-Robin Scheduling algorithm, SSC algorithm and serial execution. It turns out that RTSA can effectively shorten task scheduling length, reduce communication overhead, and improve system performance.