requirements speci cation ab mail robot · requirements speci cation ab mail robot version 1.3...

Requirements SpecificationAB Mail Robot

Version 1.3

Author: Martin MelinDate: December 3, 2010

Course name: Control Project E-mail: [email protected] group: AB Mail Men Document responsible: Martin MelinCourse code: TSRT10 Author’s E-mail: [email protected]: AB Mail Robot Document name: RequirementsSpecification v13.pdf

AB Mail Robot II

Status

Reviewed Karl Granstrom 10-11-22Approved Karl Granstrom 10-11-22


Project Identity

Group E-mail: [email protected]: under constructionOrderer: Karl Granstrom, Linkoping University

Phone: +46 13 281333, E-mail: [email protected]: Marcus Pettersson, ABB Vasteras

Phone: +46 21 345194, E-mail: [email protected] Responsible: David Tornqvist, Linkoping University

Phone: +46 13 281882, E-mail: [email protected] Manager: Daniel BaracAdvisors: Andre Carvalho Bittencourt, Linkoping University

Phone: +46 13 282622 , E-mail: [email protected]

Group Members

Name Responsibility Phone E-mail(@student.liu.se)

Daniel Barac (DB) Project Leader +46 702641857 [email protected] Melin (MM) Document responsible +46 702887793 [email protected] Erkstam (EE) Software responsible +46 737266812 [email protected] Kinner (HK) Test responsible +46 733688378 [email protected] Hallstrom (MH) +46 703679569 [email protected] Hugosson (SH) Control responsible +46 708778471 [email protected] Carlsson (NC) Information responsible +46 709601672 [email protected] Forslow (NF) SLAM responsible +46 739516430 [email protected]

Document History

Version Date Changes made Sign Reviewer

0.1 2010-09-16 First draft MH, NC, NF MH, SH0.2 2010-09-20 Second draft MH, NC, NF MH, NF0.3 2010-09-21 Third draft MH, NC, NF MH, NF0.4 2010-09-22 Fourth draft MH, NC, NF MH, NF, NC1.0 2010-09-23 MH, NF MH, NF1.1 2010-11-09 Requirement 21 altered. Re-

quirement 44 added.MH, NF MH, NF

1.2 2010-11-17 Requirement 2, 3 and 29 altered.Requirement 45 added.

DB DB

1.3 2010-11-21 Requirement 10, 28 and 31 al-tered. Requirement 46 added.

DB DB


Contents

1 Introduction 1

1.1 Parties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

1.2 Purpose and goal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1.3 Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1.4 Background information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1.5 Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1.6 Enviromental limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

2 Overview of the system 3

2.1 Subsystems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

2.1.1 Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

2.1.2 Laptop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

2.2 Product components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

2.3 Dependencies on other systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

2.4 Design philosophy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

3 Software requirements 4

3.1 Mapping requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

3.2 Trajectory planning requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

3.3 Navigation and localization requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

3.4 Other requirements on the software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

4 Robot requirements 6

5 Delivery and subdelivery requirements 7

6 Requirements regarding further development 7

7 Economy 7

8 Documentation and media 8

AB Mail Robot 1

1 Introduction

Fido-Dido (Figure 1) is a wheeled mobile robot manufactured by MobileRobots Inc. Itsmost important features are a SICK laser range finder, 8 forward-facing ultrasonic arraysonars, odometers and a Micro-Controller. The robot shall be able to autonomouslynavigate in an office-landscape using a pre-defined map which it also shall be able toupdate when changes are detected. It shall also be able to find its way from point A topoint B. The requirements are listed in more detail throughout this document.

Figure 1: Fido-Dido

The requirements are divided into three priority levels. Priority 1 indicates that the re-quirement is a basic requirement and has to be fullfilled. Priority 2 denotes that therequirement isn’t compulsory, but that the project group believes it will fullfill it. Prior-ity 3 denotes that the project group aim to fullfill the requirement if time allows. Therequirements will be listed as follows:

Requirement no. Change Requirement Priority

The column ”Requirement no” states the requirement number, ”Change” indicate whetherthe requirement is an original requirement or if it has been renegotiated, the column”Requirement” states the requirement and the column ”Priority” states the priority ofthe requirement.

1.1 Parties

Client of the project is Karl Granstrom, PhD-student in Automatic Control, Departmentof Electrical Engineering at Linkoping University. Supervisor of the project is AndreCarvalho Bittencourt, PhD-student in Automatic Control, Department of Electrical En-gineering at Linkoping University. Customer of the project is Marcus Pettersson at ABBCooperate Research Center (ABB CRC). The development is performed by the project


AB Mail Robot 2

group AB Mail Men.

1.2 Purpose and goal

The purpose of the project is to develop software and then implement it on a robot so thatthe robot can navigate in an office enviroment. The project group will evaluate futurepossibilities to make this robot able to deliver objects, e.g. mail. The goal of the project isto develop a system for an autonomous robot which shall be able to navigate from point Ato point B in an office space, specifically at ABB CRC. The long term goal of the productis to extend the robot with a robotic arm to enable the delivery of objects, e.g. mail.

1.3 Usage

The product can be used as a platform for further research at ABB CRC or at LinkopingUniversity.

1.4 Background information

This project is a part of the CDIO-course TSRT10 at Linkoping University and is per-formed in collaboration with ABB CRC. The group consists of eight students with exper-tise within automatic control and sensor fusion.

1.5 Definitions

This section defines a few concepts that will be used throughout this document.

• MC - Microcontroller

• LIPS - Latt Interaktiv ProjektStyrning. The project model being used during theproject

• ARIA - ActivMedia Robotics Interface for Application

• Postbox - A position in the robots operating area where fictitious mail is fetched

• Mailing adress - A position in the robots operating area where fictitious mail isdelivered

• GUI - Graphical User Interface

• pose - position and heading

1.6 Enviromental limitations

The robot is limited to operate in an office enviroment. The robot cannot be expected tobe able to open doors or move objects. The floor on which the robot will operate mustbe free from obstacles which the robot cannot detect.


AB Mail Robot 3

2 Overview of the system

The system is divided into two parts, the robot, including sensors, servos and a micro-controller and one laptop including software. Figure 2 displays the system and how thedifferent components interact.

Figure 2: Overview of the system

2.1 Subsystems

This section includes a short description of the subsystems.

2.1.1 Robot

The robot is a wheeled MobileRobots P3-DX equipped with odometers, a laser rangesensor, sonars and a microcontroller. The microcontroller receives data from the sonarand odometers. It also sends control signals, calculated by the software on the laptop, tothe servos.

2.1.2 Laptop

The laptop receives sensor data from the laser and the robot’s microcontroller. It is alsoresponsible for the software which handles SLAM, trajectory planning and calculation ofthe control signals.

2.2 Product components

The product is the software written for the robot Fido-Dido. The software implementsthe autonomous behaviour of the robot described in this document.


AB Mail Robot 4

2.3 Dependencies on other systems

The software is specifically built for the wheeled robot Fido-Dido. In the event that thesoftware will be used on a different robot or if sensors are replaced, software modifactionswill most likely be nessecary.

2.4 Design philosophy

The software will be based on ARIA C++ software suite. When designing the productthe extension of the system with a robot arm will be considered.

3 Software requirements

This section specifies the requirements on the software and is divided into four subsections:Mapping requirements, Trajectory planning requirements, Navigation and localizationrequirements and Other requirements on the software.

3.1 Mapping requirements

This section lists requirements regarding the mapping.

Requirement 1 Original The software shall be able to build a map by us-ing sensor data from an unexplored environment.

1

Requirement 2 10-11-17 The software shall be able to update a map withobjects that can be detected by the laser.

1

Requirement 45 10-11-17 The software shall be able to update a map whennew obstacles are detected and when old obsta-cles are moved or removed.

2

Requirement 3 10-11-17 There shall be a possibility to add restrictions tothe map by hardcoding them into the software.

2

Requirement 4 Original The software shall be able to build a map fromenvironments that are flat.

1

Requirement 5 Original There shall be a possibility to load a previouslyconstructed map.

1

Requirement 6 Original There shall be a possibility to add restrictions tothe map via a GUI.

2

Requirement 7 Original The software shall be able to build a map fromenvironments that are flat and include ramps.

2

Requirement 8 Original There shall be a possibility to convert a PDF filecontaining a map into the software’s map repre-sentation.

3

Requirement 9 Original There shall be a possibility for the robot to au-tonomously explore a new enviroment.

3


AB Mail Robot 5

3.2 Trajectory planning requirements

This section lists requirements regarding the trajectory planning.

Requirement 46 10-11-21 The software shall be able to plan a route fromone given position in the map to another positionin the map. The robot shall be able to follow theroute without hitting objects close to its path.

1

Requirement 10 10-11-21 The software shall be able to plan a route fromone given position in the map to another positionin the map. The route shall not pass throughobjects or restricted areas.

2

Requirement 11 Original Whenever a new fixed obstacle is detected, thesoftware shall be able replan the route if neces-sary.

1

Requirement 12 Original To make the robot avoid moving obstacles, thesoftware shall be able to replan the route.

2

Requirement 13 Original The software shall be able to find and plan theshortest, for the robot possible, route.

2

Requirement 14 Original The software shall be able to handle right-handtraffic when planning the routes.

3

3.3 Navigation and localization requirements

This section lists requirements regarding navigation and localization.

Requirement 15 Original Given an approximate map and an initial pose inthe map, the software shall be able to estimatethe robots pose in the map when the robot ismoving around.

1

Requirement 16 Original The software shall be able to give some indicationof the uncertainty in the robots pose.

1

Requirement 17 Original The software shall only be able to estimate therobot’s pose in environments that are flat.

1

Requirement 18 Original The software shall be able to estimate the robot’spose in environments that are flat and includeramps.

2

Requirement 19 Original Given an abitrary unknown position in a mappedenvironment the software shall be able to esti-mate the robot’s pose (lost robot problem).

3

3.4 Other requirements on the software

This section lists other requirements on the software.

Requirement 20 Original There shall be a possibility to maneuver therobot using the onboard laptop.

1

Requirement 21 10-11-09 The software shall be written in C++ or MAT-LAB.

1


AB Mail Robot 6

Requirement 44 10-11-09 The software shall be written in C++. 2

Requirement 22 Original There shall be a possibility to maneuver therobot using an external computer.

2

Requirement 23 Original There shall be a GUI displaying the estimatedmap and current robot pose.

2

Requirement 24 Original Via the GUI the user shall be able to place an endpoint on the displayed map making the softwarereplan the current route to this point.

3

Requirement 25 Original There shall be a possibility to use wireless com-munication to send map data from the onboardlaptop to an external computer which in turn isdisplayed by the GUI.

3

Requirement 26 Original The external computer shall be able to commu-nicate with the onboard laptop.

3

Requirement 27 Original The GUI shall be able to receive input from atouchscreen.

3

4 Robot requirements

This section lists requirements regarding the robots physical movement.

Requirement 28 10-11-21 Given the initial position on the route, the robotshall be able to follow the route and avoid movingobstacles by slowing down when closer than 60cmfrom the center of the robot, and stopping whencloser than 30cm.

1

Requirement 29 10-11-17 If the end position of a route is a mailing adressor a postbox, the robot shall be able to stopwithin 2 decimeters from it. The error of therobot heading is insignificant.

2

Requirement 30 Original If the end position is arbitrary, the robot shallbe able to stop within 4 decimeters from it. Theerror of the robot heading is insignificant.

1

Requirement 31 10-11-21 The robot shall not be able to cross restrictedareas in the map.

2

Requirement 32 Original If the end position of a route is a mailing adressor a postbox, the robot shall be able to stopwithin 1 decimeter from it. The error of therobot heading shall be less than 25 degrees.

2

Requirement 33 Original If the end position is arbitrary, the robot shallbe able to stop within 2 decimeters from it.Theerror of the robot heading shall be less than 50degrees.

2


AB Mail Robot 7

Requirement 34 Original If the end position of a route is a mailing adressor a postbox, the robot shall be able to stopwithin 5 centimeters from it. The error of therobot heading shall be less than 15 degrees.

3

Requirement 35 Original If the end position is arbitrary, the robot shallbe able to stop within 1 decimeter from it. Theerror of the estimated robot heading shall be lessthan 25 degrees.

3

5 Delivery and subdelivery requirements

For more information on when the Decision Points (DP) occur view the Time Plan doc-ument.

Requirement 36 Original At DP1 the following shall be delivered: Require-ments Specification, Projcet Plan including TimePlan and System Description.

1

Requirement 37 Original At DP3 the following shall be delivered: DesignSpecification and Test Plan.

1

Requirement 38 Original At DP5 the following shall be delivered: All func-tionality, Test Protocol, User Manual and a pre-sentation showing that the requirements statedin the Requrements Specification are fulfilled.

1

Requirement 39 Original At DP6 the following shall be delivered: Techni-cal Documentation, Project Evaluation, PosterPresentaion, a homepage describing the projectand a YouTube-video which demonstrates the fi-nal product.

1

6 Requirements regarding further development

This section lists requirements regarding further development. The purpose of theserequirements is to make it easier for other people to continue the development of thesystem.

Requirement 40 Original All code shall be commented. 1

Requirement 41 Original Suggestions regarding the implementation ofIRB 120 on the robot shall be discussed in thetechnical documentation.

1

7 Economy

This section lists requirements regarding economic limitations.

Requirement 42 Original The project must not take more than 1920 hours.This includes time for lectures, education, meet-ings, document writing, media work and devel-opment of the product.

1


AB Mail Robot 8

Requirement 43 Original Every member of the group shall spend equallymuch time on the project.

1

8 Documentation and media

This section lists the documents and the media which shall be delivered during the re-alization of the project. The language used for the documents and the media will beEnglish.

Document Purpose Format/MediaRequirementsSpecification

Specifies the requirements of the project. PDF

Projcet Plan Describes how the project will be realized. PDFSystem De-scription

Interprets the Requirements Specification. Includesideas of how specific problems can be solved.

PDF

Time Plan Descibes how the time is divided between the dif-ferent activities.

PDF

Design Spec-ification

Describes in more detail how the specific parts ofthe system shall be constructed.

PDF

Test Plan Describes what and how testing will be done. PDFTest Proto-col

Protocol of all tests. PDF

TechnicalDocumenta-tion

Describes in detail what is implemented in the finalproduct. It also describes how this was done.

PDF

User Manual Describes how to use the product. PDFPoster A poster which briefly describes the product. PosterHomepage A homepage of the product. HomepageYouTubeVideo

A video which demonstrates the products function-ality.

Video

ProjectEvaluation

An evaluation of the projects result and its execu-tion.

PDF

References

Course homepage of Automatic Control - Project Course TSRT10:http://www.control.isy.liu.se/student/tsrt10/ [2010-09-15]

Svensson, Tomas; Krysander, Christian. Projektmodellen LIPS (2007) ProjektmodellenLIPS Version 1.3, Linkoping University

Bittencourt, Andre. FIDO-DIDO – a wheeled mobile robot for research and educationpurposes: http://www.control.isy.liu.se/ andrecb/fidodido/fidodido.pdf [2010-09-15]


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