Test Plan

Spring Semester Test Plans

Logistics

Equipment
  • Autokrawlers (x2): All tests, unless otherwise specified, will involve one or both Autokrawler robots, henceforth referred to as “rovers”.
  • Laptop (x1): A single laptop is used to coordinate actions and communication between the rovers. This laptop will be used to display/observe internal system states unless otherwise specified.
  • PS4 Wireless Controllers (x2): These controllers are used to teleoperate the rovers.
  • Obstacles (x1-x5): These are round objects ranging in diameter from the minimum required to entrap the rovers via high centering (approximately 20cm) to completely impassable by the rovers (approximately 1m).
Rover Status

Unless otherwise stated all tests will begin with the rovers and remote controllers turned on, connected, and running the ROS nodes relevant for each test.]

Locations

The Spring Validation Experiment (SVE) and other field tests will take place at the field test spot , which will be determined during the spring semester and before the SVE test; the other subsystem/component tests and system integration tests will be performed at the Planetary Robotics Lab (Gates Highbay) unless explicitly mentioned otherwise.

Personnel

All personnel will be present for all tests. Each subsystem test will be conducted by the person in charge of primary development of that subsystem. Integration tests will be conducted by the primary integrator of those systems.

 

Schedule

 

Subsystem Tests (ST)

ST.1: Autonomous Entrapment Detection Test

ST.2: Claw Pose Control Test

ST.3: Claw Grasping Test

ST.4: Winch Functionality Test

ST.5: Docking Planning Test

ST.6: Towing Coordination Test

ST.7: Camera Test

ST.8: Path Planning sub-system test

 

System Integration Tests (IT)

IT.1: Unobstructed Coplanar Docking Test

IT.2: Autonomous Rescue of Entrapped Rover

 

Spring Validation Experiment

 

Appendix A: System Requirements

 

Attachments:

 

Fall Validation Experiment (FVE)

The Fall Validation Experiment will focus on the behaviors directly associated with towing a robot out of a several variations on a scenario involving a high centered robot.

 

Team I Fall Validation Experiment
Location GHC PRB High Bay
Environment 5mx5m, flat unobstructed area.
Equipment 2 Autokrawler rovers, 10cmx1.5m wooden ramp, 20cmx1.5m cylinder, 2 PS4 joysticks, 1 Laptop, 1 Wifi Router
Test ID: A Path Planning and Localization
Description Demonstrate path planning in a simulated environment. Demonstrate relative localization of the rover.
Step Step Description Success Condition
A.1 In simulation define an environment space (with a specified size) in which the rover will operate. Further, define a 1.0m by 1.0m obstacle in the environment with free space of at least 2.5m around it. The start state is defined on one side of the obstacle and goal state is defined on the other side of the obstacle and the orientation of the start state and goal state is kept at the same angle. This scenario will force the rover to circulate around the obstacle without colliding with it and reach the goal state. The planner generates a path between the (specified) start state and the goal state if a feasible path exists while avoiding obstacles and taking into account the minimum turning radius of the rover. The simulated rover does this by following a generated path and ends in the desired position and orientation (goal state).

The path should lead the rover to a final state such that its orientation is aligned with the goal state orientation within 40 degrees and it is within a 0.25m radius of the goal state position.
A.2 Localization: Rover is teleoperated around a 3mx3m square in test area, returning as close as possible to the original starting position. Rover odometry drift (calculated with respect to rover’s ground truth) is less than 10cm.
Test ID: B Autonomous Demonstrations
Description Autonomously complete a simple docking operation, and autonomous path following.
Step Step Description Success Condition
B.1 Simple 1D Docking-Tow maneuver: Start the rovers 50cm apart, both on level ground (no obstructions). Send a command to autonomously dock and tow. Winch-Rover advances 50cm to the Claw-Rover. Claw closes around tow ring.

Both rovers drive 50cm in the reverse direction such that the Winch-Rover  is back in its original position. The claw opens to release the winch..

This maneuver will have a 75% success rate.
Test ID: C Component Demonstrations
Description Achieve docking and liberation of an entrapped rover by using a tele-operated (human-in loop)  counterpart.
Step Step Description Success Condition
C.1 Camera subsystem Show a live video feed from the rover to the base station laptop.
C.2 Teleoperated dock, tow, release. The following sequence occurs: Entrap one rover then drive the other rover up to it, dock, pull it off the obstacle, and release the docking mechanism.

 

Attachments: