Test Plan

Full Test Plan

Spring Validation

To demonstrate the progress made over the course of this semester in our Hardware Agnostic Path Planner and SLAM subsystem.
RequirementsM.F.R.2, M.F.R.3, M.F.R.1, M.N.F.R.1, M.N.F.R.4
ElementsSubsystems – SLAM, Planning
EquipmentBase Station, Locobot with an onboard computer (Nvidia Xavier), Realsense D435.
PersonnelAll 4 team members
– Locobot is placed at the start of a predefined trajectory that it will follow using teleoperation.
– The SLAM subsystem is started, and we move the robot along the predefined trajectory
– The SLAM subsystem would generate the map incrementally, which will be visualized on the ground station computer in real-time.
– Additionally, we will visualize the trajectory calculated by the SLAM subsystem’s localization module, alongside the ground-truth trajectory on the ground station computer in real-time
– At the end of the trajectory, we will also calculate and show the relative pose error in translation and rotation

– We will have a set of predefined obstacle maps in a simulator/visualizer
– We will also have a set of robot parameters representing different types of robots.
– We will run our hardware-agnostic path planner with combinations of these obstacle maps and robot parameters
– We will then visualize the path generated by the planner for each of these combinations
– The SLAM subsystem would generate an HD map of the area that the robot covers.
– The localization module’s relative translational pose error is less than 15 cm, and the relative rotational pose error is less than 10 degrees

– The planner adapts to changes in the obstacle map and the robot parameters and generates a path that leverages each robot’s capabilities.