用过程控制架构提升农机软件可复用性与可修改性
Reusability and Modifiability in Robotics Software (Extended Version)
- 基于过程控制风格和8种设计模式构建133个模块
- 实现12000行C++代码，性能无损耗且易于扩展
- 适合机器人软件开发人员参考架构设计
本文基于过程控制架构风格和设计模式，设计了一款除草机器人的微控制器单元软件。通过应用8种设计模式解决30个问题，共构建133个模块。该设计显著提升了组件的可复用性与程序的可修改性、可扩展性，并提供完整设计文档。最终实现12,000行C++代码的系统，经实证评估表明其性能未因架构设计而下降。
原文摘要 · Abstract (English)
We show the design of the software of the microcontroller unit of a weeding robot based on the Process Control architectural style and design patterns. The design consists of 133 modules resulting from using 8 design patterns for a total of 30 problems. As a result the design yields more reusable components and an easily modifiable and extensible program. Design documentation is also presented. Finally, the implementation (12 KLOC of C++ code) is empirically evaluated to prove that the design does not produce an inefficient implementation.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。