Requirements overview
Functionality
- The robot shall be able to exit the maze/corridor.
- The robot shall be able to identify walls (the
corridors will be between 0.5 and 1.5m wide).
- The robot shall be able to identify doors and
dead-ends.
- The robot shall be able to request a door opening
(these should be done with the provided command).
- The robot should identify if the door has
opened (it should monitor for 2 seconds to detect if the alleged door started opening).
- The robot shall be able to identify corners
(corners being two walls at an angle of approximately 90 degrees).
- The system shall be able to plan and follow a
path (path following error should not be larger than 10cm).
- The system shall be able to map the path it
followed.
Usability
- The robot should provide information on what
its actions will do next.
- The system should be able to keep a log of the
controller outputs and sensor inputs.
- The system should display the known world
map on real-time.
Reliability
- The robot shall not hit any walls.
- The system should take into account the stopping
distance that can be achieved with the motors (based on the robot’s inertia and motors’ capabilities).
- The robot should not stand still for long periods
time (at most 30 seconds standing still).
- The motion controller should always be stable.
- The system should never get into a deadlock
or get stuck in a infinite loop.
- The robot should wait long enough for the
door to open after ringing the bell (it should monitor for 7 seconds at most).
Performance
- The motion controller should not output
speeds above the limits (maximum translational speed of 0.5m/s, maximum angular speed of 1.2rad/s).
- The time to exit the maze/corridor should be
as short as possible (respecting the speed constraints).
- The robot should exit the maze/corridor in
time (at most 7/5 minutes).
- The system should be able to solve the maze
within two attempts.
Supportability
- The system should be compatible with the
specified starting procedure.