{"id":311,"date":"2019-02-23T02:48:36","date_gmt":"2019-02-23T02:48:36","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2018teami\/?page_id=311"},"modified":"2019-04-06T23:04:39","modified_gmt":"2019-04-06T23:04:39","slug":"test-plan","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teami\/test-plan\/","title":{"rendered":"Test Plan"},"content":{"rendered":"

Spring Validation Experiment<\/h2>\n
\nLocation: The Mall
\nEnvironment: 20m x 20m flat unobstructed area
\nEquipment: 2 Autokrawler rovers, 1 base station (Laptop), 2 Joysticks, 1 WiFi Router
\n<\/strong>
\n <\/p>\n
\n<\/p>\n

Test 1: Range and bearing measurements<\/h4>\n

<\/strong>
\nSteps:<\/strong><\/p>\n

  • Place the moving Autokrawler at the starting point around 8 meters away from the stationary Autokrawler.\n
  • Move the Autokrawler on a predefined path with the joystick.<\/li>\n
  • Stop once every 15 seconds to get range and bearing measurements for a total of 20 measurements.<\/li>\n
  • The screen at the base station displays the error between estimated range and ground truth range\n
  • measurements. Reviewers verify this. <\/li>\n
  • The screen at the base station displays the error between the estimated bearing and ground truth range measurements. Reviewers verify this. <\/li>\n
  • Operator A counts the number of times rover is detected successfully and the reviewers verify that it is detected 90% of the time.<\/li>\n

     
    \nSuccess Conditions:<\/strong><\/p>\n

  • M.P.6 Detect other rovers with an accuracy of 80% up to a distance of 10 meters<\/li>\n
  • M.P.7 Estimate relative pose of another rover with an error in Range < 30 cm, Yaw < 4 degrees<\/li>\n

     <\/p>\n

    \"\"<\/p>\n

     <\/p>\n

    \n<\/p>\n

    Test 2: Colocalization capabilities <\/h4>\n

    <\/strong>
    \nSteps:<\/strong><\/p>\n

  • Place both the rovers at their starting location 5 meters apart from each other.<\/li>\n
  • Connect both the rovers to their joysticks.<\/li>\n
  • Operator A and Operator B start moving the Autokrawlers on their predefined paths.<\/li>\n
  • Operator A and Operator B synchronize and stop every 30 seconds for relative range and bearing measurements.<\/li>\n
  • Operator C at the base station shows the correction in the path traversed by the two rovers against the ground truth paths and verifies the percentage improvement.<\/li>\n

     
    \nSuccess Conditions:<\/strong><\/p>\n

  • M.P.8 Co-localize with a maximum error of 5% of distance travelled<\/li>\n

     <\/p>\n

    \"\"<\/p>\n

    \n

    Fall Validation Experiment<\/h2>\n
    \nLocation: Lafarge Construction Site
    \nEnvironment: 20m x 20m mapped area with a Pit like structure and obstacles, slopes
    \nEquipment: 2 Autokrawler rovers, 1 base station (Laptop), 1 WiFi Router<\/strong><\/p>\n
    \n<\/p>\n

    Test 1: 3D reconstruction with emphasis on path planning around the pit. <\/h4>\n

    <\/strong>
    \nSteps: <\/strong><\/p>\n

  • Place both Autokrawlers at a known location on the map 5 meters away from the pit.<\/li>\n
  • User inputs the location of the pit on the base station<\/li>\n
  • A global trajectory and waypoints around the pit are generated for both the Autokrawlers on the base station which can be visualized on the user interface.<\/li>\n
  • The user verifies the path and sends command for the Autokrawlers to start navigating.<\/li>\n
  • The rovers traverse to the pit, avoiding obstacles to reach the first waypoint of the pit.<\/li>\n
  • The rovers navigate within the given accuracy level to the appropriate waypoints around the pit generated by the global plan.<\/li>\n
  • Images of the pit are captured which can be visualized on the user interface.<\/li>\n
  • Once all the waypoints are traversed, rover signals successful capture of the pit.<\/li>\n
  • User verifies the captured images and commands to generate a 3D Model of the pit.<\/li>\n
  • 3D Model of the pit is generated on the base station.<\/li>\n
  • The accuracy of the above 3D Model is compared with ground truth LIDAR model.<\/li>\n

     
    \nSuccess Conditions:<\/strong><\/p>\n

  • M.P.2 Generate waypoints, at-least 50 cm from the edges of the pit <\/li>\n
  • M.P.9 Generate waypoints to capture a 360-degree view of a 50-meter diameter pit<\/li>\n
  • M.P.10 Generate a 3D model of the pit with the maximum point to point distance error of 5%<\/li>\n
    \n<\/p>\n

    Test 2: Planning simulation in different scenarios (Simulation) <\/h4>\n

    <\/strong>
    \nSteps:<\/strong><\/p>\n

  • Operator A loads simulation with obstacles of height > 20 cm randomly distributed on the terrain. The slope of the terrain is also randomly generated.<\/li>\n
  • The user commands the system to plan a global path. <\/li>\n
  • The system plans the path with avoiding obstacles and steep slopes. <\/li>\n
  • Operator A verifies from the screen that the path is completely obstacle free and at no point the slope is above 20 degrees.<\/li>\n
  • Operator A also verifies that rovers stay with a communication range of 35m.<\/li>\n

     
    \nSuccess Conditions<\/strong><\/p>\n

  • M.P.1 Plan global path for rovers to be within communication range of 35m<\/li>\n
  • M.P.3 Detect, plan locally and avoid objects of height > 20cm, 80% of the time<\/li>\n
  • M.P.4 Plan global path for rovers to be within the detection range of 30m<\/li>\n
  • M.P.5 Plan global path for rovers to avoid slopes > 20 degrees<\/li>\n","protected":false},"excerpt":{"rendered":"

    Spring Validation Experiment Location: The Mall Environment: 20m x 20m flat unobstructed area Equipment: 2 Autokrawler rovers, 1 base station (Laptop), 2 […]<\/p>\n","protected":false},"author":173,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-311","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teami\/wp-json\/wp\/v2\/pages\/311","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teami\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teami\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teami\/wp-json\/wp\/v2\/users\/173"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teami\/wp-json\/wp\/v2\/comments?post=311"}],"version-history":[{"count":8,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teami\/wp-json\/wp\/v2\/pages\/311\/revisions"}],"predecessor-version":[{"id":382,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teami\/wp-json\/wp\/v2\/pages\/311\/revisions\/382"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teami\/wp-json\/wp\/v2\/media?parent=311"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}