Embedded Motion Control 2018 Group 6
Group members
| Name: | Report name: | Student id: |
| Thomas Bosman | T.O.S.J. Bosman | 1280554 |
| Raaf Bartelds | R. Bartelds | add number |
| Bas Scheepens | S.J.M.C. Scheepens | 0778266 |
| Josja Geijsberts | J. Geijsberts | 0896965 |
| Rokesh Gajapathy | R. Gajapathy | 1036818 |
| Tim Albu | T. Albu | 19992109 |
| Marzieh Farahani | Marzieh Farahani | Tutor |
Initial Design
Requirements and Specifications
\begin{table}[ht] \centering \caption{System Requirements for PICO} \label{tbl:req} \begin{tabular}{p{5cm}|p{6cm}|p{5cm}}
\textbf{Requirements} & \textbf{Specifications} & \textbf{Validation} \\ \hline \hline & & \\ \textbf{General} & &\\ \hline The system shall detect walls & Wall is identified within range of laser & Visualize Detection \\ \hline The system shall detect doors & Hole in a wall is identified as a door & Drive along wall with door on path \\ \hline
The system shall not touch the walls & PICO shall not move closer than 10cm to a wall & Place wall in path of PICO\\ \hline The system shall respect speed limitations & Speeds shall be below 0.5 m/s translational and 1.2 rad/s rotational \\ \hline The system shall be active & PICO shall not stand still for more than 30 seconds & \\ \hline The system shall navigate to the goal & Accurate following of fastest path to goal & PICO reaches goal\\ \hline The system shall complete the task as fast as possible & The task is completed within 5 minutes & \\ \hline The system shall stop once the finish line is crossed & PICO shall stop within half a meter & Drive across finish line \\
\hline & & \\ \textbf{Escape Room} & &\\ \hline The system shall identify the corridor as goal & Two walls close together are identified as a corridor and set defined as goal & PICO turns and enters corridor \\
\hline & & \\ \textbf{Hospital} & & \\ \hline The system shall map the complete environment & A real time map shall be created by PICO & Compare map to real room \\ \hline The system determines its location within the environment & PICO can locate itself on the map& Location is visualized \\ \hline The system shall be able to park backwards & PICO can drive backwards and park in the middle of corridor & PICO stops before hitting wall\\ \hline The system shall detect the object and identify it as goal & A foreign object within the mapped environment is found & Detection is visualized \\ \hline
\end{tabular}
\end{table}
Use cases for Escape Room
1. Wall and Door Detection
2. Move with a certain profile
3. Navigate
Requirements for Escape Room
R1.1 The system shall detect walls without touching them
R1.2 The system shall detect the goal/door
R1.3 The system shall log and map the environment
R2.1 The system shall move slower than 0.5 m/s translational and 1.2 rad/s rotational
R2.2 The system shall not stay still for more than 30 seconds
R3.1 The system shall find the goal
R3.2 The system shall determine a path to the goal
R3.3 THe system shall navigate to the goal
R3.4 THe system shall not touch the walls
R3.5 The system shall complete the task within 5 minutes
Use cases for Hospital Room
(unfinished)
1. Mapping
2. Move with a certain profile
3. Orient itself
4. Navigate