Spring Validation Experiment (SVE)

Experiment Results

Entrapment Detection Performance

The entrapment detector succeeded in detecting entrapment within 60 sec for all trials, which fulfilled the performance requirement for the entrapment detection subsystem.

Rover Rescue Performance

	Trial	Success	Not-Successful
REQD.	1	1
	2		1	90 degree case
	3	1
	4	1
	5	1
		80%	20%	End of Trial

The rescue rover succeeded in rescuing the entrapped rover for 4 out of 5 trials, which yields a success rate of 80% >= 60%, which fulfilled the performance requirement for the integrated system.

 

Fall Validation Experiment (FVE)

Path Planning

				Error
Test Run ID	Start Pose	Goal Pose	Enviornment Type	x	y	theta	Goal Criteria Threshold
1	1.5, 0.0, 90	7.5, 7.0, 90	Maze	-8.88E-16	-8.88E-15	-0.000210432	0.02, 0.02, 5
2	0.0, 2.0, 0	6, 2, 2000	FVE	0	-4.44E-16	0	0.02, 0.02, 5
3	0.0, 2.0, 0	6.0, 2.0, 10	FVE	-0.05	0.05	9.99	0.1, 0.1, 15
4	0.0, 2.0, 0	6.0, 3.0, 20	FVE	-0.025	-0.05	-6.56147	0.05, 0.05, 10
5	0.0, 2.0, 0	6.0, 3.0, 25	FVE	-0.025	-0.025	-1.56212	0.05, 0.05, 10

 

High-level Test Cases and Performance

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 (PASSED)	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 (PASSED)	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 (PASSED)	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 (PASSED)	Camera subsystem	Show a live video feed from the rover to the base station laptop.
C.2 (PASSED)	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.