ll events on multiprocessor can realize true parallelism. In our mobile robot, using Harmony OS both multitasking and multiprocessing programming is implemented on multiprocessor (MC68040 processors) which share memories municate each other by VMEbus. Harmony allows creating many tasks as desired which can be map to Рseveral microprocesors and run in parallel .In addition,tasks written in C run on MC68040 can activate the assembly code in the MC68HC11 SBC which control infrared and ultrasonic sensors and get distances dates. These SBC run simultaneously with MC68040 processors. An instance of an implemented task structure is shown in Fng. 5. РSome experiments,such as following lines,avoiding obstacles and area filling have been carried out on the rmbile system to demonstrates its real-time
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