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.