Requirements overview

This page lists the requirements for the controller design of group 5 according to the FURPS model.

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.

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.

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).

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.