Constructing a real-time mobile robot software system
By: Kevin LaMonte Huggins
Publisher: Naval Postgraduate School; Available from National Technical Information Service
Published: 1994
Place of publication: Monterey, Calif; Springfield, Va
Language: eng
Number of pages: 100
Description: 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.
Notes: Thesis advisor(s): Yutaka Kanayama.

"September 1994."

Thesis (M.S. in Computer Science) Naval Postgraduate School, September 1994.

Bibliography: p. 98.

Approved for public release; distribution unlimited.

Also available online.

Mode of access: World Wide Web.

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US Army (USA) author.