{"id":71,"date":"2016-09-14T07:24:39","date_gmt":"2016-09-14T07:24:39","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/?page_id=71"},"modified":"2017-05-13T02:14:58","modified_gmt":"2017-05-13T06:44:58","slug":"test-plan","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/performance\/test-plan\/","title":{"rendered":"Test Plan"},"content":{"rendered":"<p>We have broken down our system tests into Fall and Spring Validation Experiments. They are outlined in detail below, as well as in these documents: <a href=\"https:\/\/drive.google.com\/file\/d\/0B_OMcWEb-tALOVl4N19nY3JmSnM\/view?usp=sharing\">FVE<\/a>, <a href=\"https:\/\/docs.google.com\/document\/d\/12tEPfZPP7MEsmALAPEjjKomIWTsnlQNZ5pvhNm_zCV8\/edit?usp=sharing\">SVE<\/a>.<\/p>\n<p>In addition, we have made a complete test plan for the Spring Semester with intermediate goals and verification. The document can be seen <a href=\"https:\/\/drive.google.com\/file\/d\/0BzW0eGpjJq5RbkNuWUNDRzMzVm8\/view?usp=sharing\">here<\/a>.<\/p>\n<h1>[Completed] Spring Validation Experiment &#8211; Apr 26\/ May 3<\/h1>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-486 alignright\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-content\/uploads\/sites\/15\/2016\/09\/moose.jpg\" alt=\"\" width=\"338\" height=\"230\" \/><\/p>\n<p><b>Location<\/b><span style=\"font-weight: 400\">: Newell-Simon Hall, B floor<\/span><\/p>\n<p><b>Test setup<\/b><\/p>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Size: minimum 6m x 3m space<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Floor surface: Smooth tiling<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Static obstacle: 0.15m x 0.15m x 0.2m or larger <\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Road: 2 lanes<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Lane width: 0.60m*<\/span><\/li>\n<\/ul>\n<p><b>Initial procedure for all tests<\/b><\/p>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Initialize robot in known environment, on the right lane of the two-lane road.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Send command velocity : straight forward with constant velocity of 3 m\/s** while staying in the lane.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">When front of robot is ~1.5 m away from predetermined obstacle position, the obstacle will be introduced.<\/span><\/li>\n<\/ol>\n<p><b>Demonstration procedure 1<\/b><\/p>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Initial procedure (see above)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">The robot will see the obstacle and execute an emergency brake.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Observe the resulting trajectory of the robot.<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Robot will crash into obstacle in its attempt to come to a stop.<\/span><\/li>\n<\/ol>\n<\/li>\n<\/ol>\n<p><b>Demonstration procedure 2<\/b><\/p>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Initial procedure (see above).<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">When the obstacle is introduced, the human operator will be given manual control of the vehicle via a joystick. The operator will attempt to avoid the obstacle. <\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Observe the resulting trajectory of the robot. <\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Repeat steps 1-3 three times.<\/span><\/li>\n<\/ol>\n<p><b>Test procedure <\/b><\/p>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Initial procedure (see above).<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">The robot will see the obstacle and execute a maneuver around it, while staying within the limits of the adjacent lane.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Observe the resulting trajectory of the robot.<\/span><\/li>\n<\/ol>\n<p><b>Success criteria<\/b><\/p>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Robot detects obstacle on current path (show on laptop). <\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Robot avoids contact with obstacle<\/span><\/li>\n<\/ul>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Robot resumes its original trajectory (straight forward) along the lane.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Robot stays within road markings throughout the test.<\/span><\/li>\n<\/ul>\n<p><span style=\"font-weight: 400\">* US Highway typical lane width: 12 feet (3.7m); at 1\/10 scale, lane widths will be about 0.37m. However with our crash bumper, the footprint of the robot is enlarged by 1.5 times, requiring a lane width of &gt;0.55m<\/span><\/p>\n<p><span style=\"font-weight: 400\">** Freeway speeds are usually &gt; 60mph ~= 2.7 m\/s at 1\/10 scale. Moose tests are typically conducted around 40mph ~= 1.8m\/s<\/span><\/p>\n<hr \/>\n<h1>[Completed] Fall Validation Experiments &#8211; December 1st\/8th<\/h1>\n<p>&nbsp;<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-444\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-content\/uploads\/sites\/15\/2016\/09\/fve.gif\" alt=\"fve\" width=\"1021\" height=\"528\" \/><\/p>\n<h3>Location: Newell-Simon Hall, B floor<\/h3>\n<h3><b>Test setup<\/b><\/h3>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Size: minimum 6m x 4m space<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Floor surface: smooth tiles or concrete <\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Static obstacles: 0.15m x 0.15m x 0.2m or larger <\/span><\/li>\n<\/ul>\n<h3><b>Test procedure<\/b><\/h3>\n<p><i><span style=\"font-weight: 400\">Test 1: Localization Accuracy Test<\/span><\/i><\/p>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Mark 3 points in test environment with tape<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Initialize the robot at any one of the points<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Tele-operate the robot to any one of the other marked points<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Obtain the position estimate of the robot<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Compare the position estimate with the true coordinates of the marked point<\/span><\/li>\n<\/ol>\n<p><i><span style=\"font-weight: 400\">Test 2: Navigation and Obstacle Avoidance Test<\/span><\/i><\/p>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Place one or more obstacles in the environment, which are not part of the known map<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Initialize robot with known map<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Send goal point via GUI <\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Robot will travel from start point to goal point at a commanded velocity of 1 m\/s<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Measure the distance of the robot from the goal point<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Repeat steps 1~4, two more times<\/span><\/li>\n<\/ol>\n<p><i><span style=\"font-weight: 400\">Test 3: Simulation model for drifting<\/span><\/i><\/p>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Input commands and initial conditions to Simulink model<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Observe animation of the simulated motion of the robot<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Input an equivalent set of commands (steering angle, throttle) to robot<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Observe motion of robot in real world<\/span><\/li>\n<\/ol>\n<h3><b>Success criteria<\/b><\/h3>\n<p><i><span style=\"font-weight: 400\">Test 1: Localization Accuracy Test<\/span><\/i><\/p>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Robot outputs an estimate of its position, relative to the map<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Position: Robot localizes itself within 0.15m of each marked point<\/span><\/li>\n<\/ul>\n<p><i><span style=\"font-weight: 400\">Test 2: Navigation and Obstacle Avoidance Test<\/span><\/i><\/p>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Robot plans an initial trajectory to its destination<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Robot sends updates of its planned trajectory and map to GUI <\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Robot avoids known and unknown static obstacles<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Robot reaches planned destination coordinates within 0.15m<\/span><\/li>\n<\/ul>\n<p><i><span style=\"font-weight: 400\">Test 3: Simulation model for drifting<\/span><\/i><\/p>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Model is able to drift in a predictable fashion in the simulation<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Robot is able to achieve drifting behaviour in real world test<\/span><\/li>\n<\/ul>\n<hr \/>\n<h1><\/h1>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>We have broken down our system tests into Fall and Spring Validation Experiments. They are outlined in detail below, as well as in these documents: FVE, SVE. In addition, we have made a complete test plan for the Spring Semester with intermediate goals and verification. The document can be seen here. [Completed] Spring Validation Experiment&hellip;&nbsp;<a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/performance\/test-plan\/\" rel=\"bookmark\"><span class=\"screen-reader-text\">Test Plan<\/span><\/a><\/p>\n","protected":false},"author":55,"featured_media":0,"parent":565,"menu_order":1,"comment_status":"closed","ping_status":"closed","template":"","meta":{"neve_meta_sidebar":"","neve_meta_container":"","neve_meta_enable_content_width":"","neve_meta_content_width":0,"neve_meta_title_alignment":"","neve_meta_author_avatar":"","neve_post_elements_order":"","neve_meta_disable_header":"","neve_meta_disable_footer":"","neve_meta_disable_title":"","footnotes":""},"class_list":["post-71","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/pages\/71","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/users\/55"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/comments?post=71"}],"version-history":[{"count":18,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/pages\/71\/revisions"}],"predecessor-version":[{"id":570,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/pages\/71\/revisions\/570"}],"up":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/pages\/565"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/media?parent=71"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}