Constructing a real-time mobile robot software system

• Main Author: Huggins, Kevin LaMonte
• Other Authors: Kanayama, Yutaka
• Language: en_US
• Published: Monterey, California. Naval Postgraduate School 2013
• Online Access: http://hdl.handle.net/10945/28064

The problem with the Model-based Mobile robot Language(MML) processor is that the code is unstructured, causing the system to be unstable; it is very difficult to read because of deficient source code documentation; and because of poorly defined function interfaces and extensive functional coupling, the system is hard to maintain. To fix the MML processor, we performed a manual static analysis of the existing source code to understand its structure. Next, based on the analysis, the software system was restructured and the functionality enhanced. Finally, explicit source code documentation was added in the form of comments. There are several results with the new system. First, global variables are reduced from 152 to zero. Secondly, function interfaces are clearly defined and function coupling is enhanced. Finally, the source code is extensively documented. Following from these results, the new system is more stable, easier to read and understand, and sampler to modify