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Test Protocol
Editor: Erik Bodin
Version 1.0
Status
Reviewed Erik Bodin 2016-12-05Approved Martin Lindfors 2016-12-06
Autonomous Minesweeper 2016-12-06
PROJECT IDENTITY2016/HT, TIGER
Linkoping University, Dept. of Electrical Engineering (ISY)
Group membersName Responsibility Phone Email
Alfred Patriksson Head of Software 076 210 94 30 [email protected] Reizenstein Head of Hardware 070 279 29 00 [email protected] Bodin Head of Documentation 076 241 11 32 [email protected] Ling Head of Testing 073 525 72 76 [email protected] Watz Head of Information 076 817 57 75 [email protected] Sjoberg Project Manager 070 652 14 01 [email protected] Morhed Head of Design 073 520 84 59 [email protected]
Group e-mail: [email protected]
Customer: Torbjorn Crona, Saab DynamicsContact at customer: Torbjorn Crona, [email protected]
Technical expert at customer: Erik Ekelund
Examiner: Daniel Axehill, [email protected]: Martin Lindfors, [email protected]: Per Bostrom, [email protected]
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Contents
Document history III
1 Introduction 1
1.1 Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2 Test plan of binary requirements 3
3 Test plan of general requirements 4
4 Test plan of positioning requirements 5
5 Test plan of mapping requirements 6
6 Test plan of navigation requirements 8
7 Test plan of control requirements 10
8 Test plan of GUI requirements 11
References A
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Document history
Version Date Changes Changed by Reviewed
0.1 2016-09-22 First draft * EB
0.2 2016-09-27 Second draft * EB
0.3 2016-09-30 Third draft * EB
1.0 2016-10-01 Approved ML
0.1 2016-12-04 Updated to Test Protocol GL, AR, HW, IS
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1 Introduction
This test plan is part of the autonomous minesweeper project of which more informationcan be found in the project plan [2]. The purpose of this document is to describe differenttests that needs to be carried out in order to ensure that the requirements of the projectare fulfilled. The tests will be written mainly for the functional requirements since inmost cases those need to be specified more in detail.
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1.1 Definitions
• Balrog or Platform - The minesweeping vehicle that is used in this project.
• The project group - The group of students that will work with this project.
• Position - The center of the IMU unit placed on the platform which is also thecenter of rotation.
• AprilTag - A printable tag made by April Robotics Laboratory used to position thecamera that looks at the tag. The tags will be in the positioning of the platform.
• Indoor test area - A horizontal rectangular indoor area with dimensions 5x5 meters.The test area will be static over time. AprilTags will be placed in each corner ofthe test area.
• Outdoor test area - A horizontal rectangular indoor area with dimensions 20x20meters. The test area will be static over time. AprilTags will be placed in eachcorner of the test area.
• Obstacle - An object that the platform can not pass through. The obstacle shallhave a rectangular solid profile and be 0.5 meters wide and 0.5 meters high.
• Map - A local made-to-scale representation of the indoor test area. It must at leastcontain positions of the walls surrounding the test area. It may include selectedobstacles.
• Scanned area - Area that the robot has driven over. The scan width is set to be0.25 meters to each side parallel to the platform front area meaning it scans with atotal width of 0.5 meters.
• User - The human who is controlling the platform. Either via the remote controlor by adding waypoints to the navigation system.
• Search area - Area which the robot shall sweep for mines. The area is specified inwidth and length.
• Test route - A route defined by 4 waypoints placed in each corner of a squarewith side length 3 meters. The platform is placed with its center position over thefirst waypoint and its front facing the second waypoint. The platform shall have amap covering the test route and the required localization precision (specified underlocalization requirements) shall be met.
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2 Test plan of binary requirements
Binary requirements are requirements where the measurement variable is binary, i.e. itcan be either true or false. An example could be whether something exists. Either itexists or it doesn’t exist, it cannot be anything in between.
A separate test for each of these requirements will not be listed in the test plan. Insteadthere will be a single ”test” covering all such requirements.
All design requirements in each category and all documentation, upgrade, delivery andeconomy requirements are considered binary requirements even if, in some cases, themeasured variable could be quantified.
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3 Test plan of general requirements
Nr Req.nr.
Req. to betested
Req.level
Test Description Environment Expectedresult
Actual result Action
1 7 There will be adead mans switch,so the platformstops moving ifthe remote controlloses connection.
1 The platform is controlledvia the remote controlusing both throttle andwheel. The remote controlis turned off when theplatform is moving.
Indoor The platformstops immedi-ately
Remote wasturned off.Robot stoppedimmediately.
No action cur-rently required.
4 Test plan of positioning requirements
Nr Req.nr.
Req. to betested
Req.level
Test Description Environment Expectedresult
Actual result Action
2 16 When navigatingthe indoor testarea, the positionwill be estimatedwith an accuracyof: 0.1 meters
1 Drive a test route (definedin section 1.1).
Indoor The platformends up withits centerwithin a cir-cle of radius0.1 metersplaced overthe startingwaypoint.
The robot esti-mated is posi-tion with an er-ror of 0.1003 me-ters.
None
3 17 When navigatingthe outdoor testarea, the positionwill be estimatedwith an accuracyof: 0.1 meters
1 Drive a test route (definedin section 1.1).
Outdoor The platformends up withits centerwithin a cir-cle of radius0.1 metersplaced overthe startingwaypoint.
Outdoor re-quirementsremoved, no testneeded.
-
4 18 The angular stateof the robot will beestimated with anaccuracy of 10°
1 The platform is heldstationary at horizontalground.
Indoor The platformestimates itsangular stateswith an ac-curacy of atleast 10°.
After one lap ofthe test routethe robot esti-mated its anglewith an error of-5.1124 degrees.
None
5 Test plan of mapping requirements
Nr Req.nr.
Req. to betested
Req.level
Test Description Environment Expectedresult
Actual result Action
5 30 Detected obstaclesand map elementswhich are not in-cluded in the prede-fined map shall bemapped within 15seconds from detec-tion.
1 The platform is placed withan unmapped obstacle 5meters in front of it.
Indoor The obstacleis seen onthe internalmap of theplatform after15 seconds atmaximum.
Obstacles withinthe confines ofthe map aredetected andmapped in realtime.
None.
6 31 The platform willbe able to detectobstacles in front ofit at a range of 10meters.
1 The platform is placed withan unmapped obstacle 10meters in front of it andhelds stationary with its LI-DAR looking at the obsta-cle.
Indoor The platformdetects theobstacle.
The platformdetects obstaclesat a distancewell above 10meters.
None.
7 34 When navigatingthe indoor test areawith 3 obstaclesspaced at least 2meters apart, theobstacle positionwill be estimatedwith an accuracyof 0.2 meters.
1 The platform will navigatethrough the indoor test areawhich will be rigged with3 obstacles spaced 2 metersapart. The obstacles are de-fined in section 1.1.
Indoor testarea
The obstaclesare mappedby the plat-form withtheir centerplaced atmost 0.2meters fromtheir actualposition.
The platformmapped thethree obstacleswith an averageerror of 0.18meters.
No actionneeded.
8 35 When navigatingthe outdoor testarea with 5 obsta-cles spaced at least5 meters apart, theobstacle positionwill be estimatedwith an accuracyof 0.3 meters.
1 The platform will navigatethrough the outdoor testarea which will be riggedwith 5 obstacles spaced 5meters apart. The obstaclesare defined in section 1.1.
Outdoor testarea
The obstaclesare mappedby the plat-form withtheir centerplaced atmost 0.3meters fromtheir actualposition.
Outdoor re-quirementsremoved, no testneeded.
-
6 Test plan of navigation requirements
Nr Req.nr.
Req. to betested
Req.level
Test Description Environment Expectedresult
Actual result Action
9 43 When navigatingthe indoor testarea without obsta-cles, the algorithmshould explore theentire map.
1 Operate the robot as com-manded by the navigationalgorithm. When the nav-igation algorithm has fin-ished searching the areaconfirm that the entire areahas been explored.
Indoor The al-gorithmexplores theentire map.
The Balrogexplored theportions of themap that weredetermined tobe within safedistances of theborders of themap.
None.
1044 When navigating
the outdoor testarea without obsta-cles, the algorithmshould explore theentire map.
1 Operate the robot as com-manded by the navigationalgorithm. When the nav-igation algorithm has fin-ished searching the areaconfirm that the entire areahas been explored.
Outdoor The al-gorithmexplores theentire map.
Outdoor re-quirementsremoved, no testneeded
-
1145 When navigating
the indoor test areawith 5 obstaclesspaced at least3 meters apart,the algorithmshould explore allsegments of themap more than0.5 meters from anobstacle.
1 Operate the robot as com-manded by the navigationalgorithm. When the nav-igation algorithm has fin-ished searching the areaconfirm that the entire areahas been explored.
Indoor The al-gorithmexplores theentire mapexcept ar-eas within0.5m from anobstacle.
The Balrogexplored allporions of themap determinedto be withinsafe distancesof the orders ofthe map andobstacles. Safedistances to ob-stacles was setto 0.25 meters
None
1246 When navigating
the outdoor testarea with 5 obsta-cles spaced at least5 meters apart, thealgorithm shouldexplore all seg-ments of the mapmore than:
1 Operate the robot as com-manded by the navigationalgorithm. When the nav-igation algorithm has fin-ished searching the areaconfirm that the entire areahas been explored.
Outdoor The al-gorithmexplores theentire mapexcept ar-eas within0.6m from anobstacle.
Outdoor re-quirementsremoved, no testneeded
-
7 Test plan of control requirements
Nr Req.nr.
Req. to betested
Req.level
Test Description Environment Expectedresult
Actual result Action
1349 The control system
shall follow the de-fined test route(specified underDefinitions) witha deviation of nomore than 0.1meters. It shallfinish within acircle of radius 0.2meters with itscenter in the initialwaypoint.
1 Let the robot run the testroute autonomously andcontinuously monitor thedeviation from the path.When the robot finishesmeasure the deviation fromthe initial position.
Indoor Maximumroute devi-ation is lessthan 0.1mand plat-form finisheswithin 0.2mof initialwaypoint.
The controllerkeeps the roboton the path atall time with anunidentifiabledeviation. Itfinishes within0.1 meters of thefinal waypoint.
None.
8 Test plan of GUI requirements
Nr Req.nr.
Req. to betested
Req.level
Test Description Environment Expectedresult
Actual result Action
1455 The GUI will ren-
der the robot’s po-sition and internalmap.
1 Visual inspection of theGUI
Indoor The GUIwill renderthe robotsposition andinternal map.
The GUI rendersthe map and theBalrogs positionin the map inreal time
None
1556 It will be possible
to enable/disablethe sensor datafeeds, to prioritizeimportant data.
1 Visual inspection of theGUI
Indoor It is possi-ble to en-able/disablesensor datafeeds.
Sensor feedrequirementsremoved, no testneeded
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References
[1] LIPS – niva 1. Version 1.0. Tomas Svensson och Christian Krysander. Compendium,LiTH, 2002.
[2] Project plan. Version 1.0 TIGER Project group. LIPS Document, LiU, 2016.
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