Design And Implementation Of Monitor System Based On Linux For THMR-V

In recent years, the research of Mobile Robots has become a hot topic. The research and development of the Monitor System in this area still remains equal significants, correspondingly. This thesis gives a detailed description of the research of the development and implementation for the Monitor System based on Linux for THMR-V.At present, the main software structures of the monitor system for mobile robots are as below: the Control Loop, the Layered Architecture, the Implicit Invocation and the Blackboard Architecture, and other structures combined and derived from the above mentioned four types. Focusing on the features of THMR-V, this thesis puts forward a new software structure and develops the Monitor System upon combining the Layered Architecture with the Blackboard Architecture, characterized by choosing Linux as the operation system platform and Qt as the GUI development library.Taking path tracking algorithms as the core of Monitor System, this thesis analyzes the train of thoughs of these algorithms and summarizes the common points of them. On that base, the thesis gernalizes the fundamental functions of these algorithms and gives the design of the abstract algorithm class. That all the algorithms deriving from the abstract class provides a perfect resolution to the organization of core algorithms.Nowadays, it has become a main stream for the concept of Object-Oriented development to adopt the method of Unified Modeling in design of softwares. This thesis deals with modeling of design of the monitor system in respects such as use case modeling, state chart modeling, collaboration diagrams modeling, activity diagrams modeling and static class design. This part gives detailed analysis and description of the functional modules devided in the monitor software and the mutual relatioins among each modules, the main operation prodecures concerned in the software and the content that should be included in part of the core class. For those difficulties in the developing process such as design pattern, network technology, multithread programming, the thesis introduces problems that should be noticed, and provides solutionsFinally, the thesis validates the efficiency of the Monitor System by experiments, and obtains the positive results. What's more, the thesis also analyzes the experiment data by statistics method, which enables the researchers to know the real operation status of the ethernet in THMR-V, and raises the propose for further analysis and debugging.