Fall Performance
Demo 1
| Task | Success Criteria | FVE Performance |
|---|---|---|
| “Park” command sent to the mobile platform using the Android app | LED blinks to indicate command received | Task completed successfully at FVE Encore |
| Vehicle begins locomotion upon receiving the command | Vehicle moves forward | Task completed successfully at FVE Encore |
| “Return” command sent to the mobile platform via the Android app | Vehicle moves backward to original location | Task completed successfully at FVE Encore |
Demo 2
| Task | Success Criteria | FVE Performance |
|---|---|---|
| “Park” command sent to the mobile platform using the Android app | LED blinks to indicate command received | Task completed successfully at FVE Encore |
| Navigation direction set on second SBC | Platform moves according to set direction | Collaboration using XBees working as a complete subsystem |
| Platform navigates to second position | Vehicle moves forward or backward, as appropriate | Not demonstrated, as it is dependent on XBee collaboration |
| While navigating to the spot, the vehicle will encounter an obstacle and stop within a safe distance of the obstacle | Vehicle does not collide with obstacle | Task completed successfully at FVE Encore |
Validation Experiments
The system validation experiments are used to ensure that all system-level requirements are met. Below, experiments are divided by the component that they will be validating.
Sensor
IR
- Test: Place pre-defined obstacles at different orientations, distances, and angles with respect to the sensor and log the readings. Confirm that the readings match the correct orientations, distances, and angles.
Requirement Validated: MF.9
Kinect
- Test: Map a known environment and note the discrepancies between the actual and logged data. Note the resolution of the map.
Requirement Validated: MF.8
Communication
Bluetooth
- Test: Ensure Bluetooth device is recognized by the smartphone. Transmit serial data between phone and the microcontroller and confirm that it receives the transmissions correctly.
Requirement(s) Validated: MF.1
Wireless Network
- Test 1: Transmit a list of 10 elements between multiple ROS-masters over a Wi-Fi network. Each ROS master will change a different element in the list. Each ROS will receive the updates and will have identical lists.
Requirement(s) Validated: MF.2, MN.1, MN.5, DN.1
- Test 2: Send vehicle to parking spot. Turn off Bluetooth and Wi-Fi. Vehicle attempts to reconnect while maintaining course. After 25 seconds, turn on Bluetooth and Wi-Fi. Vehicle reconnects successfully and maintains course.
Requirement(s) Validated: MN.2
- Test 3: Send vehicle to parking spot. Turn off Bluetooth and Wi-Fi. Vehicle attempts to reconnect while maintaining course. After 30 seconds of no connection, vehicle changes course to exit queue. Vehicle continues to attempt to connect at longer intervals.
Requirement(s) Validated: MN.2
Parking Spot Matrix
- Test: Transfer a multidimensional array representing the parking spots in the lot between the single board computers and populate it with relevant data. Make some changes to the matrix and log how that affects the contents of the matrix. Ensure that the changes made on one board are carried over to the other boards.
Requirement(s) Validated: MF.2, DF.1
Android App Interface
Phone to Car
- Test: Transmit a command, either “Park” or “Return” from the Android App to the microcontroller by pressing the appropriate button from the app. Ensure that the command is received at the other end and that the appropriate vehicle responds in the appropriate manner.
Requirement(s) Validated: MF.1
Locomotion
Acceleration Control
- Test: Make the vehicle move slowly, normally, and quickly. Note the time taken and distance travelled. Make the vehicle come to a complete stop quickly and slowly. Note the nature between speed control commands and how they affect actual speed of the system.
Requirement(s) Validated: DF.4
Deviation between instructed and actual motion
- Test: Give a combination of commands to the platform and note the deviation from the desired position. Iterate multiple times and see if there is some predictable trend.
Requirement(s) Validated: MF.3
Parking Spot – Entering and Exiting
- Test 1: Send the vehicle to a spot with both adjacent spots occupied. The vehicle backs into the space within two tries. When the vehicle is parked, it is 100% within the parking spot boundaries and within 35º of parallel to both the neighboring vehicles. Send the vehicle to the exit. The vehicle exits the spot within two attempts without coming into contact with nearby vehicles or the infrastructure.
Requirement(s) Validated: MF.6, MF.7, MN.3, MN.4, DN.3 - Test 2: Send the vehicle to a spot with one adjacent spot occupied. The vehicle backs into the space within two tries. When the vehicle is parked, it is 100% within the parking spot boundaries and within 35º of parallel to the neighboring vehicle on one side and the parking spot line on the other side. Send the vehicle to the exit. The vehicle exits the spot within two attempts without coming into contact with nearby vehicles or the infrastructure.
Requirement(s) Validated: MF.6, MF.7, MN.3, MN.4, DN.3 - Test 3: Send the vehicle to a spot with both adjacent spots unoccupied. The vehicle backs into the space within two tries. When the vehicle is parked, it is 100% within the parking spot boundaries and within 35º of parallel to the parking spot boundaries. Send the vehicle to the exit. The vehicle exits the spot within two attempts without coming into contact with nearby vehicles or the infrastructure.
Requirement(s) Validated: MF.6, MF.7, MN.3, MN.4, DN.3
Power Subsystem
Connections to PCB are secure
- Test: Use a multimeter to check all the connections.
Requirement(s) Validated: MN.7
Power is constant with no fluctuation
- Test: Note the nature of voltage being supplied through an oscilloscope. Ensure there are no fluctuations.
Requirement(s) Validated: MN.7
Mapping
- Test 1: Place markers at predefined locations and map the area. Compare their position in the map to their actual physical location and ensure it is correct.
Requirement(s) Validated: MF.8 - Test 2: Upload the map generated to the SBC and visualize with RViz.
Requirement(s) Validated: MF.8
Localization
- Test 1: Have the vehicle circle the parking lot. Compare actual location to computed location every 30 seconds to ensure there are minimal errors. Continue to have the vehicle circle for approximately 10 minutes to ensure there are no compounded errors.
Requirement(s) Validated: MF.3, DN.2 - Test 2: Place the vehicle at different locations and note the localization readings. Make the vehicle move to different locations and note the localization readings.
Requirement(s) Validated: MF.3, DN.2
Obstacle Detection
Send and Receive Movement Information
- Test 1: Send a Return command to a vehicle. Ensure that the vehicle publishes a message to other vehicles on the network that it is exiting the parking spot. Nearby vehicles that are parking will yield right of way to the exiting vehicle, allowing it enough space to exit the spot safely and efficiently.
Requirement(s) Validated: MF.2 - Test 2: When a vehicle is entering a parking spot, nearby vehicles maintain a safe distance to avoid collision and give the parking vehicle adequate space to park safely and efficiently.
Requirement(s) Validated: MF.2
Avoid Infrastructure
- Test: Have the vehicle circle the parking lot. The vehicle maintains a safe distance from the infrastructure of the parking lot and parked vehicles. Place an object in the vehicles path. The vehicle stops within 3 seconds of detecting the obstacle.
Requirement(s) Validated: MF.8, MF.9, MF.10, DF.4