基于ReWorks的无人智能控制系统设计与实现

黄河; 杨帆; 蒲涛; 艾婧媚

doi:10.20193/j.ices2097-4191.2025.0078

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集成电路与嵌入式系统 ›› 2025, Vol. 25 ›› Issue (12) : 27-32. DOI: 10.20193/j.ices2097-4191.2025.0078

智能嵌入式系统软硬件协同设计与应用专栏

基于ReWorks的无人智能控制系统设计与实现

作者信息 +

Design and implementation of unmanned intelligent control system based on ReWorks

Author information +

文章历史 +

摘要

针对无人系统在自主可控、实时响应与智能协同方面的核心需求,提出一种基于锐华嵌入式实时操作系统(ReWorks)和开源欧拉操作系统(openEuler)的全栈国产化无人智能控制系统解决方案。通过构建“AI大脑+实时小脑”的双系统异构架构,结合ROS2通信框架与microROS嵌入式扩展,实现智能决策与硬实时控制的深度协同。在龙芯2K1000、飞腾D2000等国产硬件平台上验证,结果表明该方案的实时性能指标显著优于Linux,为水下机器人、无人机等无人系统应用场景提供了全栈自主可控的技术路径。

Abstract

Addressing the core requirements of unmanned systems in terms of autonomous controllability, real-time response, and intelligent collaboration, this paper proposes a full-stack localized unmanned intelligent control system solution based on ReWorks embedded real-time operating system and openEuler open-source operating system. By constructing a dual-system heterogeneous architecture of "AI brain + real-time cerebellum", combined with the ROS2 communication framework and microROS embedded extension, deep collaboration between intelligent decision-making and hard real-time control is achieved. Verification on domestic hardware platforms such as Loongson 2K1000 and Feiteng D2000 shows that the real-time performance indicators of this solution are significantly better than those of Linux, providing a full-stack autonomous controllable technology path for unmanned system application scenarios such as underwater robots and drones.

导出引用

黄河, 杨帆, 蒲涛, 等. 基于ReWorks的无人智能控制系统设计与实现[J]. 集成电路与嵌入式系统. 2025, 25(12): 27-32 https://doi.org/10.20193/j.ices2097-4191.2025.0078

HUANG He, YANG Fan, PU Tao, et al. Design and implementation of unmanned intelligent control system based on ReWorks[J]. Integrated Circuits and Embedded Systems. 2025, 25(12): 27-32 https://doi.org/10.20193/j.ices2097-4191.2025.0078

中图分类号： TP273 (自动控制、自动控制系统)

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