Jacobia: Generic Autonomous Control Module
Contents
1. 3 24 2 Source Chris McMurrough 3 24 3 Constraints The system should be in range of the wireless technology and within a maximum range of 120 feet The system uses a local wireless network therefore the LAN must be online and operational for the system to connect Also there may be some latency in the transmission of the video feed 3 24 4 Standards The system shall follow the wireless communications standard of IEEE 802 15 4 3 24 5 Priority 5 Future April 21 2012 18 Team Autono Mo 3 25 Information Reporting 3 25 1 Description The system shall include a host application that will be installed on the user s computer and will have a GUI that will display the current state of the system The different types of states include stopped and in transit which both only refer to the current movement of the RC vehicle 3 25 2 Source Chris McMurrough 3 25 3 Constraints The information displayed may have a small amount of lag due to the quality of the system s wireless communication devices The size of the user s screen will serve as a constraint to the amount of information the application can show on its GUI 3 25 4 Standards N A 3 25 5 Priority 3 Moderate 3 26 Location Information 3 26 1 Description The host application shall show the location information of the system The subsystem which is an application on the laptop shall display the current location and other information related to the location i e GPS2. Description The system shall provide the user with operation instructions The host application shall present instructions to the user in regards to installation and use of the system itself 3 8 2 Source Darius Salemizadeh 3 8 3 Constraints N A 3 8 4 Standards N A 3 8 5 Priority 1 Critical April 21 2012 10 Team Autono Mo 3 9 System Scale 3 9 1 Description The system shall be of M 12 scale The system shall be designed to support only RC vehicles which are of 1 12 scale The system may still be applicable for systems of 1 10 and 1 16 scale 3 9 2 Source Darius Salemizadeh 3 9 3 Constraints Vehicle design may prevent the system from operating on all vehicles of that scale 3 9 4 Standards The system shall be based upon 1 10 1 12 or 1 16 scale RC vehicle properties 3 9 5 Priority 2 High 3 10 System Power 3 10 1 Description The system shall utilize the existing power supply of the RC vehicle in order to supply the power for the system s operations 3 10 2 Source Chris McMurrough 3 10 3 Constraints Since the battery being used is the existing battery of the RC vehicle the performance will depend on the drains on the battery from other components of the vehicle 3 10 4 Standards NA 3 10 5 Priority 1 Critical April 21 2012 11 Team Autono Mo 3 11 Obstacle Avoidance and Navigation Startup 3 11 1 Description The system shall contain software that initializes the Obstacle Avoidance
3. Operational Ease 13 Multiple Sites 14 Facilitate Change Total Degree of Influence TDI OON OU BU DR OG ri DS oO Dm Ep AAO En L Table 11 4 This chart shows how we calculated our TDI After this we then calculated our Adjusted FP Count This will let us know our final value for our function points VAF TDI 0 01 0 65 Value Adjusted Factor 53 0 01 0 65 1 18 Adjusted FP Count Unadjusted FP Count VAF 406 1 18 Adjusted FP Count 479 This total gives us an estimation of 4 4 months to complete our project Use case Points Besides using function point estimation we also used the method of use case points Previous projects stated that there was 40 FP Use case and 10 use cases associated with their system If we use this same estimation we get our estimated total hours to be 10 40 400 total hours This total gives us an estimation of 4 months to complete our project April 21 2012 44 Team Autono Mo COCOMO We also utilized COCOMO to estimate how long our project would take and we were able to come up with a feasible estimate Below are our calculations Effort Applied E au SLOCH man months Development Time D c Effort Applied months People required P Effort Applied Development Time count Effort Applied E 3 6 5k 3 6 6 89 24 83 mans months Development time D 2 5 24 830 6 98 months When trying to discern the feasibility of our proje
4. Priority 5 Future April 21 2012 20 Team Autono Mo 4 Packaging Requirements Every large scale product implementation team must pay careful attention to how its product is presented to the intended customer Team Autono Mo s product is no different Therefore this section exists in order to describe the look of the product upon delivery as well as the components that make up the system 4 1 System Will Be Fully Assembled 4 1 1 Description The control module and mount will be delivered as one complete piece Only mounting and connecting will be required 4 1 2 Source Team Autono Mo 4 1 3 Constraints Physical strength of the assembly 4 1 4 Standards The system will be created for an RC vehicle of 1 12 scale and the system may also be able to fit those of 1 10 and 1 16 scale 4 1 5 Priority 2 High 4 2 Software CD Containing User Program Included 4 2 1 Description The host application will be put on a CD and delivered with the module The CD will allow the user to install the host application on their computer 4 2 2 Source Team Autono Mo 4 2 3 Constraints The host application may not be cross platform compatible Only Microsoft Windows 7 will be supported 4 2 4 Standards 700MB Compact Disk and software compliant with Microsoft Windows 7 platform specifications 4 2 5 Priority 2 High April 21 2012 21 Team Autono Mo 4 3 Installation Instructions Included 4 2 1 Description The installation o
5. and Navigation System The system shall contain software that allows the system to calculate where 1t currently is what direction it is facing and several other start up checks that need to be run before the RC vehicle starts its journey The system shall always perform the same checks every time it starts up 3 11 2 Source Chris McMurrough 3 11 3 Constraints N A 3 11 4 Standards National Marine Electronics Association 0183 standard 3 11 5 Priority 1 Critical 3 12 Input GPS Destination 3 12 1 Description The system shall allow for the end user to input the GPS coordinates that they wish the vehicle to travel to from its current location 3 12 2 Source Chris McMurrough 3 12 3 Constraints The GPS coordinates of the destination may be off by 1 meter depending on the GPS unit within the vehicle 3 12 4 Standards National Marine Electronics Association 0183 standard 3 12 5 Priority 1 Critical April 21 2012 12 Team Autono Mo 3 13 RC Vehicle Trajectory 3 13 1 Description The system shall be able to determine the RC vehicle s trajectory through the use of on board devices 3 13 2 Source Chris McMurrough 3 13 3 Constraints The system may not be able to provide real time calculations and may be just near real time 3 13 4 Standards National Marine Electronics Association 0183 standard 3 13 5 Priority 1 Critical 3 14 Start to Finish Travel 3 14 1 Description The system shall be able to mak
6. complete and this range will change several times over the course of our project There s a good chance that this list will eventually expand once we get into the stages of implementation but we ll April 21 2012 41 Team Autono Mo have enough of our budget left to account for such additions Overall we feel that we can confidently consider this project feasible with our given budget As a side note this estimate does not include taxes or shipping costs We may also be able to get some of these things donated to us or salvage them from other projects We also allocated a maximum amount 300 for our RC vehicle but we will probably not spend that much In a worst case scenario we would go over our budget by 54 with this estimate but this is very unlikely and easily mitigated 11 5 Resource Analysis Team Autono Mo consists of one Software Engineering student one Computer Science student and two Computer Engineering students We feel that our wide range of skills will allow us to effectively carry out this project but there are certain limitations we face We estimate that the most difficult task will be interfacing all of the components together once we get into the stages of implementation that require all of our systems to communicate The hardware portion of this integration is going to be the most difficult thing for us Despite having two Computer Engineers on our team they are both somewhat lacking in experience with combining the amount
7. coordinates Geo location maps etc 3 26 2 Source Chris McMurrough 3 26 3 Constraints The information displayed may have a small amount of lag due to the quality of the system s wireless communication devices The size of the user s screen will serve as a constraint to the amount of information the application can show on its GUI 3 26 4 Standards N A 3 26 5 Priority 3 Moderate April 21 2012 19 Team Autono Mo 3 27 Host Application Local Obstacle Display 3 27 1 Description The host application shall show the location of local obstacles encountered by the system The host application shall display the location of the current obstacles encountered by the system in the host application GUI 3 27 2 Source Chris McMurrough 3 27 3 Constraints The information displayed may have a small amount of lag due to the quality of the system s wireless communication devices The size of the user s screen will serve as a constraint to the amount of information the application can show on its GUL 3 27 4 Standards N A 3 27 5 Priority 3 Moderate 3 28 Configuration File 3 28 1 Description The host application shall upload the configuration file to the system in order to operate within the bounds of the chosen RC vehicle This configuration file will include all the pertinent information needed to configure to a certain RC vehicle type 3 28 2 Source Chris McMurrough 3 28 3 Constraints N A 3 28 4 Standards N A 3 28 5
8. majority of our project These are the requirements that will most likely take the largest amount of time to implement and as such we will be giving them the most attention Those requirements are as follows Customer Requirement 3 15 The system shall be able to travel from one GPS coordinate to another GPS coordinate Customer Requirement 3 17 The system shall be able to avoid local obstacles along its path Customer Requirement 3 4 The system shall be able to interface with standard RC vehicle PPM signals Customer Requirement 3 21 The system shall be able to interface wirelessly with a host application Customer Requirement 3 27 The system shall have a GUI for interfacing with the user April 21 2012 39 Team Autono Mo 11 2 Research Through our initial research sessions Team Auto Mo was able to find other projects which were very similar to our own in regards to functionalities delivered We used them as a reference for determining several different factors for our project such as time reguirements cost reguirements parts reguired algorithms used and other pertinent fields of interest 11 2 1 Path finding algorithm Through our research of several path finding algorithms we have determined that this portion of our project will not be difficult to implement There are several examples on the Internet and several of our group members are students of Dr Huber e Robotics class in which we are being taught how to
9. of hardware that will be required for our system Because of this we will be asking our sponsor Chris McMurrough to help us with the main parts of the hardware integration Doing something incorrect and potentially damaging a piece of hardware is unacceptable so we will do everything in our power to prevent this The majority the project encompasses work that at least one or more members of Team Autono Mo are familiar with Each member has had several years of experience in programming the two Computer Engineering members have had lots of experience with reading input data and using that data to make decisions within a system our Computer Science and Software Engineering members have both had experience with creating a GUI system and implementing algorithms and the other skills required of us will be learned as we further develop this project We have all had lots of experience with learning new languages and systems within relatively small timeframes so this will come easily for the team during the course of the project as well From a technical standpoint Project Jacobia is a very feasible endeavor for Team Autono Mo 11 6 Schedule Analysis Team Autono Mo utilized three methods of time estimation and formulated a feasible schedule based on these estimations Through the use of Function Points Use Cases and COCOMO we were able to formulate an average estimate of 5 13 months which is within our scheduled time frame Because of this we feel
10. timely manner Less than 3 seconds will be enough time to change the vehicles course from its current position 5 6 2 Source Team Autono Mo 5 6 3 Constraints The data rate of the wireless technology in conjunction with the response time of the control module to the incoming GPS coordinates 5 6 4 Standards The system shall follow the wireless communications standard of IEEE 802 15 4 as well as the GPS standard of the National Marine Electronics Association 0183 5 6 5 Priority 3 Moderate April 21 2012 25 Team Autono Mo 6 Safety Reguirements In order to assure the safety and well being of every user when operating Team Autono Mo s system many safety reguirements have been engineered These reguirements serve as safeguards against injury for the potential users operating the system 6 1 Maximum RC Vehicle Speed 6 1 1 Description The system shall support an RC vehicle with a top speed of no more than 10 miles per hour This will allow the system to be much less dangerous if operating near people 6 1 2 Source Chris McMurrough 6 1 3 Constraints The RC Vehicle used may not be of a high enough guality for us to accurately limit maximum speed to 10 miles per hour 6 1 4 Standards N A 6 1 5 Priority 1 Critical 6 2 Emergency Stop Button 6 2 1 Description The system shall furnish an emergency stop button The host application shall house an emergency stop button which when pressed will remotely stop the automate
11. to your tank EE Figure 2 3 Jacobia Mounting Instructions Screen April 21 2012 4 Team Autono Mo Project Jacobia Establish Connection C Establishing a connection to your RC Vehicle Please wait Project Jacobia Safety Instructions Please read all safety instructions included in the manual before continuing Figure 2 5 Jacobia Safety Instructions Screen Project Jacobia Check Connections Please check all connections to the RC Vehicle Click back if you need to return to the instructions page Figure 2 6 Jacobia Check Connections Screen April 21 2012 5 Team Autono Mo Project Jacobia In Transit Display RC Car Travel Information C Position 3 98 gt ar Position 29 759292 98 085938 gt Calculating path gt Path calculated Destination 29 4221853 95 021943 gt Starting travel to 29 4221855 95 021943 gt Obstacle detected gt Recalculating route gt Turning car left gt Maneuvering around obstacle Status Traveling Senne on path Car Heading NorthWest Car Type Tank Type Stop Travel Figure 2 7 Jacobia In Transit Display Screen April 21 2012 6 Team Autono Mo 3 Customer Requirements The system shall contain all of the requirements requested by the customer for Jacobia These are the most fundamental requirements of the system and without meeting these the customer shall most likely not be fully satisfied with the end product Th
12. utilize these algorithms This portion of our project should not be insurmountable 11 2 2 Obstacle Detection and Avoidance The next biggest field of research for our project is related to obstacle detection and avoidance We will be using several sensors mounted on the module in order to allow our system to view the surrounding environment Once we take in this information the system must be able to calculate how to avoid the detected obstacles We have done some research on the types of sensors required and how to use them but once it comes to implementation more research will be required in the specifics of how the sensors interact with our system 11 2 3 RC Vehicle PPM signals As stated previously our system needs to be able to communicate with the servos of the RC vehicle Thus research has been conducted on how this communication takes place in a normal RC vehicle Since our vehicle will bypass the current receiver system within the vehicle we will have to conduct more research on how to implement our module in such a way as to communicate with the servos correctly 11 3 Technical Analysis This project requires a wide range of technical skills in the following areas hardware design RC vehicle integration GUI design and inter device communication Hardware design includes everything that will be contained within the module for project Jacobia This includes but is not limited to processors a GPS unit batteries sensors
13. Department of Computer cience and Engineering The University of Texas at Arlington TEAM AUS MA Team Autono Mo Project Jacobia Team Members Bill Butts Yunesh Shakya Lance Storey Darius Salemizadeh Last Updated April 21 2012 3 00 PM April 21 2012 i Team Autono Mo Table of Contents Team AUtOnO Mo EE 1 Table of Contents N OR EE OE ely OR RE OG 11 Document Revision HIStory EA EE EE RE OR vi TistOF FISUIeS jis AE IE RE N RR N EE eee vii Fist OF NA ON eer viii 1 Product Conceptos a Eeer EE 1 tT Purpose and Use RE ER OR AE EE geet 1 12 Intended Audience soseri ienee ai he ee Ms eee eae 1 2 Product Description and Functional OVervieW oooocnnccnoconococonoconnconnconnnnnnnnnn nono nono ccoo nono nc RA RA ee ee ee 3 2T Features ad bung dees band ER GEE EE A EES eg Se See leh a Gere Ee SEE a Se be SE ee 3 2 2 External Inputs and OUtputS es cece sees ESELS Ee Se Ge DER Ge se a EE Se se geed 3 2 3 Product Interfaces SA N EE ER N elos 3 3 Customer Requirements Gee N ee aa AG GEE is a 5 3 1 Replacement of RC Vehicle RECEIVE cuina it ii id 7 3 2 PPM Signal Channel Selection viii A E e deeg der 7 3 3 PPM Signal e Ie E GEGEE OR OK ER EE EE ME N UA ie 8 34 PPM Signal et Tee rta aa ies photon ea pain hh etal 8 3 5 Maintain Standard Connections 0 eee cesceseceseceseesseeeseeesseeeseeeseecsaecsaecssecsaeesseeeseeeseesseeseneeeaeeenaeenaes 9 3 6 Secure Module Moumtin Residir lid ee ee Eed 9 3 7 Mainta
14. EE EE 32 8 1 Using English as Standard Language 32 9 Acceptance e EE 33 9 1 Replace Vehicle Receivers 2 OE N AR si 33 92 Secure le ie EE OE ORE EE EG OE RE EE 33 9 3 Standard Connections sise rea sa rn e at 33 9 4 Correct PPM GO EA AE a le o 34 9 5 Navigate to GPS E EE 34 9 6 Wireless ere vete se A A EE EE a 34 IIS A EE OAR N RE EE EE OE OR EE toease 36 10 1 TaputGPS Destination ss EE se eee Re ee 36 10 2 Uploading Configuration Filerio eniri A ee ee ee ee ee Ge a GR Ee aota 36 April 21 2012 iv Team Autono Mo 10 3 Emergency Stop N AE EE RE EE OE NE 37 104 Debug Modera A La 37 TOS Use Case Dia Mii A Deeg N EE del 38 FL Feasibility Assessment isi Gee ETES ta 39 ET 1 Scope GES ERA RE N EE OER EE N EE ORE EE EN 39 11 2 EE KA RE ME EE NE EE OE EES A0 Ho Techical Analysis oe ee EE eege See N GE GE AAA Sd Eeer 40 MEE oe GES EE OR N SR OR AE OR EE EO epica fort 41 11 5 Resotirce GESE ui tt 42 11 6 Schedule NEE IN RR RE N RR ds 42 12 Future Hed li ae ia 46 April 21 2012 v Team Autono Mo Document Revision History Revision Revision Number Date Description Rationale 3 18 2012 Rough Draft of SRS Includes rough draft of all specifications 2 0 4 22 2012 Final Draft of SRS Includes changes from gate review feedback April 21 2012 vi Team Autono Mo List of Figures Figure Title Page Figure 1 1 Product Concept Diagram iese esse esse ee see Ge DAE conc ee ee Ge non nono nero nn nora cone ee ee 1 Figu
15. OR OE KO ER N EO RE 21 4 1 System Will Be Fully Assembled A 21 4 2 Software CD Containing User Program Inchuded AAA 21 4 3 Installation Instructions Inchuded AAA 22 S Performance Requirements ios 23 5 1 MaXimum RC Vehicle Speed ie SE SEE SEE inn ctas dni dana ee SR dee ai dean 23 3 2 Battery Lite 01 20 Minutes ER ER N ER ir iaa ted 23 3 3 Solid Ground Movement eu ieee ida id 24 5 4 Obstacle Detection Time 5 Times Second iese sees sede se ee Se ee ee ee ee Ge conan ron cru anno nens 24 April 21 2012 iii Team Autono Mo 5 5 GUI Update Time 1 Update Secon A 25 5 6 GPS Response Time Less Than 3 Secondes esse sees ee ed Ge AA ee Ge Re AR AA ee Re Ge AA ee ee ee 25 6 Safety EE 26 6 1 MaxXimum RC Vehicle Speed ee ee Voeg ee GEE ld 26 6 2 Emergency Stop BUON en leet iaa 26 6 3 Warning EE AE EE NE A EE 27 64 NO Sharps Bd ees EE A EE EE GR ER EG EG N N EE de ta 27 G3buse Protect Om iii EE OR EE ER EE 27 6 6 Connection Time Out Control ee ee Lee LE GEDEEL SEL GEL Se SEER EED E oe Ge Re Ee EDS oge SEENEN 27 7 Maintenance and Support Requirements iese esse esse se se GR AG Ge Ge ee ee ee ee Ge Ge Ge GR RA ee ee 29 1 1 Maintenance Mangal EE EE SE Ge DOE Se alge el sd a ae ee aia ede 29 EE Ee Et EE 30 7 3 Easily Readable and Well Commented Source Code esse se se se ee ee ee ee Ge Ge GR GR ee de 30 TA Team Autono MO SUPPO siese ss bees eboek e ee ese RR seer EEEE DE eetk Pl gee EREE EE a dee ee bee EE ge 31 Other Requirement
16. control module portion of the product All of these modules in conjunction with one another shall provide a seamless implementation of RC functionality and GPS navigation 2 2 External Inputs and Outputs The product due to the large range of RC vehicles expects to receive a configuration file from the host application which will configure its algorithms and instructions for peak performance for the particular type of RC vehicle that the user wishes to interface with The user shall send this through the use of a user friendly graphical user interface The outputs of the system will be data corresponding to the journey of the RC vehicle That information will include route taken obstacles encountered the results of the encounters and the success of the trip 2 3 Product Interfaces The system will consist of two components which include a host application and a control module which will attach to the RC vehicle The connection of these two components will be the only instance of product interface throughout the system This interface will be accomplished through the use of wireless technology The host application will support a rich GUI with screens similar to these April 21 2012 3 Team Autono Mo Project Jacobia Welcome JMUOBIA GENERIC AUTONOMOUS VEHICLE CONTROL MODULE Figure 2 2 Jacobia RC Vehicle Selection Screen Project Jacobia Mounting Instructions Follow the instructions in the instruction manual to mount the module
17. ct Jacobia is creating a GUI that is easy to use and appeals to the user visually Inter device communication includes everything that is needed to allow the system to intelligently decide how it will proceed to the destination GPS position while avoiding obstacles in its path This includes processes such as calculating current GPS coordinates calculating heading detecting obstacles changing course to avoid obstacles and constantly correcting its self to reach the destination GPS position The largest complication with this system is making all of the devices effectively communicate with each other in a real time situation 11 4 Cost Analysis Since our budget is 800 we felt that it would be a good idea to research the costs of our components early in order to get an idea of how much money we would need to complete this project After analyzing the costs of components we believe it is feasible to create the unit and we will most likely go under our budget limit Below is a chart with the corresponding prices of most of our required components Component Low End Cost High End Cost Sensors 45 200 Processors 5 45 RC Vehicle 50 300 Batteries 13 24 Circuit Components 0 50 HBridge 3 75 15 GPS 40 100 Compass w Tilt 29 95 50 Compensation Wireless Module 30 70 Totals 216 70 854 00 Table 11 1 Cost Analysis Overview Table 11 1 is a brief overview for the cost of hardware for our project This list is by no means
18. ct in terms of time allotted to complete the task using the above time estimation techniques we are very confident that we will be able to complete the project in the required amount of time April 21 2012 45 Team Autono Mo 12 Future Items This section consists of items that Team Autono Mo has deemed noncritical to the initial system design These items are features that would be implemented in future builds of the project and seamlessly integrated with the original system design 12 1 Customer Reguirement 3 23 Live Video Feed Transmission 12 1 1 Reguirement Description The system shall capture and send a live video feed of its surroundings to the host application which will then display the video feed through the GUI to the user The video feed will capture things such as local obstacles terrain and overall journey taken by the RC vehicle 12 1 2 Constraint Time The time reguired to implement a non critical reguirement may not be available to the team due to the abundance of critical reguirements that must be met in the allotted time frame 12 2 Customer Requirement 3 8 Operation Instructions 12 2 1 Requirement Description The system shall provide the user with operation instructions The host application shall present instructions to the user in regards to installation and use of the system itself 12 2 2 Constraint Time The time required to implement a non critical requirement may not be available to the team due to
19. d RC vehicle s movement The RC vehicle shall stop within 2 seconds of pressing the button 6 2 2 Source Chris McMurrough 6 2 3 Constraints The design of the system will limit the reaction time of the button 6 2 4 Standards N A 6 2 5 Priority 1 Critical April 21 2012 26 Team Autono Mo 6 3 Warning Message 6 3 1 Description The system shall display a warning message prior to use The system shall project a safety message through the host application to the user describing the developer intent of the product in regards to RC vehicle speed size and other pertinent items The system shall use an eye catching format for the warning message 6 3 2 Source Chris McMurrough 6 3 3 Constraints N A 6 3 4 Standards N A 6 3 5 Priority 1 Critical 6 4 No Sharp Edges 6 4 1 Description The system shall be designed in such a way as to not contain sharp edges This will allow the module to not cause harm to anyone that it could come into contact with 6 4 2 Source Chris McMurrough 6 4 3 Constraints N A 6 4 4 Standards N A 6 4 5 Priority 1 Critical April 21 2012 27 Team Autono Mo 6 5 Fuse Protection 6 5 1 Description The system shall contain electronic components that will all be fuse protected This will allow the system to not electrocute or shock anyone that comes into contact with the module while powered on 6 5 2 Source Chris McMurrough 6 5 3 Constraints N A 6 5 4 Standards N A 6 5 5 Pri
20. d in a debug mode This mode will test the connections and controls of the motors and servos If the module can accurately control the motors and servos then this criteria shall be met 9 2 Verify that the module mounts securely to the vehicle and causes no instability upon operation 9 2 1 Requirement s addressed Requirement 3 7 Secure Model Mounting Requirement 3 8 Maintain Vehicle Stability 9 2 2 Verification Procedure After the module is mounted and connected to the vehicle 1t will run in debug mode During this time signs of instability in the module mount and vehicle operation will be observed If there are no instabilities then the module shall meet these criteria 9 3 Verify that the module uses only standard connections 9 3 1 Requirement s addressed Requirement 3 5 Maintain Standard Connections 9 3 2 Verification Procedure The connections used will be observed to be standards used throughout the field If the connections are easily verifiable then this criterion will be met April 21 2012 33 Team Autono Mo 9 4 Verify that the module can create the correct PPM signals and send the signals to the correct channels 9 4 1 Requirement s addressed Requirement 3 2 PPM Signal Channel Selection Requirement 3 3 PPM Signal Calculation Requirement 3 4 PPM Signal Communication 9 4 2 Verification Procedure The module will be put into debug mode to verify the PPM signals to the motors and servos If the mod
21. e an RC vehicle travel from one set of GPS coordinates to the end user specified destination coordinates The system shall travel along a created path from its current location to the destination location input by the end user 3 14 2 Source Chris McMurrough 3 14 3 Constraints The system may not be able to travel to the specified destination coordinates using its original path if it is in a higher or lower location or if there is an obstacle on its path 3 14 4 Standards National Marine Electronics Association 0183 standard 3 14 5 Priority 1 Critical April 21 2012 13 Team Autono Mo 3 15 RC Vehicle Trajectory Corrections 3 15 1 Description The system shall include metrics that test whether or not the RC vehicle is actually going on the right path and if it is not it will correct the RC vehicle s trajectory and put it back on the right path 3 15 2 Source Chris McMurrough 3 15 3 Constraints Corrections may be limited by the quality of the hardware used in the system 3 15 4 Standards N A 3 15 5 Priority 1 Critical 3 16 Obstacle Avoidance 3 16 1 Description The system shall control the RC vehicle in such a way as to avoid obstacles along its path The system shall use sensory input to detect obstacles and will then correct 1ts path to avoid such obstacles to ensure a successful journey 3 16 2 Source Chris McMurrough 3 16 3 Constraints The system may not be able to detect certain obstacles such as those t
22. ese requirements will be closely monitored throughout the development process and major decisions will be made based on them These requirements include functionality use appearance and general attributes of the product 3 1 Replacement of RC Vehicle Receiver 3 1 1 Description The system shall replace the RC vehicle s receiver as a communication device for the vehicle An RC vehicle s initial method of communication is the receiver which communicates with the transmitter remote control this receiver will be removed and replaced by connections to the control module 3 1 2 Source Chris McMurrough 3 1 3 Constraints The receiver may be difficult to remove 3 1 4 Standards The control module must seamlessly act as the receiver mimicking every bit of the original receiver s functionality 3 1 5 Priority 1 Critical 3 2 Pulse Position Modulation PPM Signal Channel Selection 3 2 1 Description The system shall choose appropriate channels to send PPM signals to The module will be connected to several motors and servos which drive the vehicle Each motor or servo will be on a separate channel The control module will need to make decisions on which channel to send the PPM signals 3 2 2 Source Chris McMurrough 3 2 3 Constraints The specific RC vehicle used must be receptive to the PPM signals sent 3 2 4 Standards The control module must supply the appropriate PPM signals as fast as the original architecture of the RC vehic
23. f the control module to the vehicle will require an instruction manual The manual will cover mounting to the vehicle vehicle type supported and user instructions for the software and configuration file 4 2 2 Source Team Autono Mo 4 2 3 Constraints N A 4 2 4 Standards N A 4 2 5 Priority 2 High April 21 2012 22 Team Autono Mo 5 Performance Requirements This section describes performance requirements that the module will adhere to during operation This includes items such as speed limitations battery limitations sensory input response times and GUI update times These are all important factors in ensuring the overall success of Jacobia 5 1 Maximum RC Vehicle Speed 5 1 1 Description The vehicle shall not travel any faster than 10 miles per hour in order to allow sensors to take accurate measurements Jacobia will limit the vehicle s speed to this maximum speed limit 5 1 2 Source Team Autono Mo 5 1 3 Constraints N A 5 1 4 Standards N A 5 1 5 Priority 2 High 5 2 Battery Life of 20 Minutes 5 2 1 Description The vehicle must be able to travel for at least 20 minutes on a single battery charge 5 2 2 Source Team Autono Mo 5 2 3 Constraints Since the battery being used is the existing battery of the RC vehicle the performance will depend on the drains on the battery from other components of the vehicle 524 Standards N A 5 2 5 Priority 1 Critical April 21 2012 23 Team Autono Mo 5 3 S
24. hat are too small to detect 3 16 4 Standards N A 3 16 5 Priority 1 Critical April 21 2012 14 Team Autono Mo 3 17 Obstacle Detection 3 17 1 Description The system shall have sensors that can detect potential obstacles The system shall utilize sensors to view the environment around the RC vehicle detecting anything that may cause problems along the path created so that adjustments can be made 3 17 2 Source Chris McMurrough 3 17 3 Constraints The sensors may not be sensitive enough to be able to detect all potential obstacles 3 17 4 Standards N A 3 17 5 Priority 1 Critical 3 18 Object Detection Sensors 3 18 1 Description The system shall have sensors that can detect the distance to and the relative size of local obstacles The system shall have sensors that can detect the distance between the RC vehicle and the obstacles detected so that the system can accurately correct its path 3 18 2 Source Chris McMurrough 3 18 3 Constraints The sensors may not be of a high enough quality to be able to detect all potential obstacles 3 18 4 Standards N A 3 18 5 Priority 1 Critical April 21 2012 15 Team Autono Mo 3 19 Path finding Algorithm 3 19 1 Description The system shall use an efficient path finding algorithm that will find a quick and safe route to the destination GPS coordinates This algorithm will take into account obstacles found with the on board sensors 3 19 2 Source Chris McMurro
25. ical April 21 2012 8 Team Autono Mo 3 5 Maintain Existing RC Vehicle Connections 3 5 1 Description The system shall use the existing connections to the vehicle s motors and servos Using these connectors on the control module will ensure the best compatibility The control module will be easily maintainable if the original architecture is preserved 3 5 2 Source Chris McMurrough 3 5 3 Constraints The standard connections must not be damaged during installation of the control module 3 5 4 Standards N A 3 5 5 Priority 1 Critical 3 6 Secure Module Mounting 3 6 1 Description The system shall mount securely to the vehicle s frame or chassis The control module should be able to mount securely to the vehicle without the possibility of falling off This will be accomplished by designing a mount to the vehicle s frame or chassis 3 6 2 Source Bill Butts 3 6 3 Constraints The car must be able to bear the weight of the control module 3 6 4 Standards N A 3 6 5 Priority 1 Critical April 21 2012 9 Team Autono Mo 3 7 Maintain Vehicle Stability 3 7 1 Description The system shall not cause the vehicle to become unstable If the control module is too bulky or is mounted incorrectly then the vehicle could become unstable 3 7 2 Source Bill Butts 3 7 3 Constraints N A 3 7 4 Standards The RC vehicle will be of 1 10 1 12 or 1 16 scale 3 7 5 Priority 1 Critical 3 8 Operation Instructions 3 8 1
26. in Vehicle Stability EE 10 3 8 Operation Rue e ET 10 sd EE N AE EE EE NE EE AE 10 310 System Power sis EE RR OR EE N EE N N OE EE EE tedes 11 3 11 Obstacle Avoidance and Navigation Startup esse esse ese ss se es ee ee ee Ge Ge Ge GRA RA GRA Ge ee ee ee 12 April 21 2012 ii Team Autono Mo 3 12 Input GPS Destination e ES RE eee ee SE Ee NE TR es ee ge Sk Ee aime 12 3 13 RE Vehicle Trajectory eege i AE ia 13 3 14 tatio Pimish Pravel EE N AK EE N EE EE 13 315 RE Vehicle Trajectory COTOS iii ide 14 3 16 Obstacle EES AE ER NE EE NE EE eal sate 14 3 17 Obstacle Detection cis EE ME EK N EE EG 15 3 15 Object Detectom Sensors Ee ee dt ee Ge PR ed 15 3 19 Path finding Al is sek ie OO N ee 16 320 SURE eo EG OE EE KT AE EE OE EE IN 16 3 21 Wireless CoinmuriEatlO ses BE Dee ee ss 16 3 22 Location Information Transmission ees see see se se ee ee ee ee ee Ge Ge GRA GRA GR Re ee ee ee 17 3 23 Local Object Information Transmission 0 00 see se se ee ee ee ee Ge Ge GR GRA GRA Ge Re ee ee 18 3 24 Live Video Feed Transmissions uoreicet nepri Ge Se ee ee ee ee Ge Ge Ge GRA RA GR AA ee ee ee 18 3 25 Information Reporting sesse bet ss eg ge RD ee de sege oe eo gee ee Gl gee DE Res besoeke gesek gek Ek ace 19 326 Location Informations EE oni elite Ge eee dni a de se Ee Ee GE N od 19 3 27 Host Application Local Obstacle Display esse ese ese se ee ee ee ee Ge Ge GR GRA GR Ge ee ee ee 20 3 28 Configuration ol EE A IE EE RE IE EN 20 4 Packaging delde HE OO
27. le performed the signal appropriations 3 2 5 Priority 1 Critical April 21 2012 7 Team Autono Mo 3 3 PPM Signal Calculation 3 3 1 Description The system shall calculate the correct PPM signal to send to each of the vehicle s motors and servos After the module makes a new trajectory calculation it will then need to calculate the correct PPM signals to send to the motors and servos 3 3 2 Source Chris McMurrough 3 3 3 Constraints The PPM signal may be difficult to keep within the respective bounds of the channel receiving the transmission 3 3 4 Standards The signals sent must adhere to the laws of PPM which include clock synchronization between receiver and transmitter as well as a later determined maximum amount of bits that can be sent per second 3 3 5 Priority 1 Critical 3 4 PPM Signal Communication 3 4 1 Description The system shall send the correct PPM signal to the vehicle s motors and servos After the control module calculates the correct PPM signal and decides to which channel the signal must go it must then send the signal 3 4 2 Source Chris McMurrough 3 4 3 Constraints There is a possibility of a small amount of PPM signal loss in the transmission 3 4 4 Standards The signals sent must adhere to the laws of PPM which include clock synchronization between receiver and transmitter as well as a later determined maximum amount of bits that can be sent per second 3 4 5 Priority 1 Crit
28. ll include a list of all parts within the system and how to replace those that are replaceable Some parts of the system will not be easily replaceable and in such a case the end user should contact Team Autono Mo 7 1 4 Standards N A 7 1 5 Priority 3 Moderate April 21 2012 29 Team Autono Mo 7 2 End user Manual 7 1 1 Description The system shall be delivered with an end user s manual The system shall include an end user s manual to allow the end user to fully operate and understand the complete system This includes but is not limited to tasks such as installation and operation of included software attaching module to RC vehicle configuring the system for the specific vehicle starting the system explanations of the transit screen and other pertinent tasks 7 2 2 Source Team Autono Mo 7 2 3 Constraints N A 7 2 4 Standards N A 7 2 5 Priority 2 High 7 3 Easily Readable and Well Commented Source Code 7 3 1 Description The system shall have easily readable and well commented source code The system shall include source code that is easy to understand and can be comprehended through the use of comments and meaningful code The end user should be able to easily read through the source code to find what they are looking for 7 3 2 Source Team Autono Mo 7 3 3 Constraints N A 7 3 4 Standards N A 7 3 5 Priority 2 High April 21 2012 30 Team Autono Mo 7 4 Team Autono Mo Support 7 4 1 Descripti
29. loading Configuration File Figure 10 1 Use Case Diagram for Project Diagram April 21 2012 38 Team Autono Mo 11 Feasibility Assessment This section of the SRS is an analysis of the feasibility of project Jacobia This includes several key features scope analysis research analysis cost analysis resource analysis and schedule analysis Since project Jacobia is still only in the design phase Team Autono Mo can only make judgments on the feasibility of the system based on preliminary research and work done towards the system However Team Autono Mo feels that the system is indeed a feasible project and will be able to be completed by August 2012 11 1 Scope Analysis The scope of work for our critical priority reguirements is reasonable and within our capabilities Building a prototype that allows for the autonomous control of an RC vehicle that complies with all of our reguirements is feasible given our timeline and skill set We can comfortably state this after doing some research into the field of autonomous RC vehicles We have found several projects similar to our own and they were able to complete their projects within a relatively similar timeframe to that of our own We felt that implementing a path finding algorithm would be time consuming but we found that there are several resources online to help with this portion of our project With all of these factors in mind there are several customer requirements that comprise the
30. n will include the purpose use and intended audience of the aforementioned product 1 1 Purpose and Use The module shall provide an existing remote control RC vehicle with the capabilities to operate autonomously The RC vehicle targeted for the Jacobia module is of a specific scale size but other scales may also be able to fit the module The module shall be able to receive GPS coordinates from a user and make the RC vehicle travel from its current GPS location to the coordinates given While travelling to the new location the module shall be able to detect local objects and avoid them as necessary This module could be used for purposes such as autonomous vehicle competitions exploration or any other autonomous purpose A graphical representation of the product concept can be seen in Figure 1 1 below Obstacle and Position Information New GPS Coordinates or Configuration File Figure 1 1 Product Concept Diagram April 21 2012 1 Team Autono Mo 1 2 Intended Audience The intended audience would be any hobbyist interested in converting their RC vehicle into an autonomous vehicle This would include anyone interested in learning about and implementing autonomous vehicle design April 21 2012 2 Team Autono Mo 2 Product Description and Functional Overview The product will be a system which consists of an attachable control module along with host application software The control module will be able to fit specified RC
31. o the host application periodically 3 22 2 Source Chris McMurrough 3 22 3 Constraints The system should be in range of the wireless technology and within a maximum range of 120 feet The system uses a local wireless network therefore the LAN must be online and operational for the system to connect 3 22 4 Standards The system shall follow the wireless communications standard of IEEE 802 15 4 3 22 5 Priority 2 High April 21 2012 17 Team Autono Mo 3 23 Local Object Information Transmission 3 23 1 Description The system shall send local obstacle information to the host application During the transit state of the system the system shall send information related to local obstacles encountered by the system 3 23 2 Source Chris McMurrough 3 23 3 Constraints The system should be in range of the wireless technology and within a maximum range of 120 feet The system uses a local wireless network therefore the LAN must be online and operational for the system to connect 3 23 4 Standards The system shall follow the wireless communications standard of IEEE 802 15 4 3 23 5 Priority 2 High 3 24 Live Video Feed Transmission 3 24 1 Description The system shall capture and send a live video feed of its surroundings to the host application which will then display the video feed through the GUI to the user The video feed will capture things such as local obstacles terrain and overall journey taken by the RC vehicle
32. oaded Table 10 2 Expanded Use Case Table for Uploading Configuration File April 21 2012 36 Team Autono Mo 10 3 Emergency Stop 10 3 1 Scenario In the event of an unknown failure or malfunction the user will have the ability to hit the emergency stop button to disable the module 10 3 2 Actor s User 10 3 3 Expanded Use Case Table Emergency Stop Actor User System Jacobia 0 System is in operation mode and is running 1 TUCBW User presses emergency stop on the 2 System stops operating system 3 TUCEW User sees the system being shut down Table 10 3 Expanded Use Case Table for Emergency Stop 10 4 Debug Mode 10 4 1 Scenario Testing of the module will be done in a debug mode This mode will allow for testing of a specific functionality 10 4 2 Actor s User 10 4 3 Expanded Use Case Table Debug Mode Actor Developer System Jacobia 0 System is in operation mode and online 1 TUCBW User choose debug mode on the 2 System operates on the debug mode system 3 TUCEW User sees the system in the debug mode Table 10 4 Expanded Use Case Table for Debug Mode April 21 2012 37 Team Autono Mo 10 5 Use Case Diagram 10 5 1 Scenario The user shall be able to enter GPS coordinates upload configuration files use an emergency stop if needed and test using a debug mode 10 5 2 Actor s User Jacobia Input GPS Destination User Up
33. olid Ground Movement 5 3 1 Description The vehicle will only be designed to operate on solid ground Mud water extreme inclines and other unfavorable landscapes will not be covered by the vehicle s capabilities 5 3 2 Source Team Autono Mo 5 3 3 Constraints The vehicle will not be able to determine its terrain This will be determined by the operator 5 3 4 Standards N A 5 3 5 Priority 1 Critical 5 4 Obstacle Detection Time 5 Times Second 5 4 1 Description The module will detect obstacles 5 times second This will keep the module s obstacle detection properly updated in relation to its speed 5 4 2 Source Team Autono Mo 5 4 3 Constraints Design of the specific sensors and operating code may limit this rate 5 4 4 Standards N A 5 4 5 Priority 2 High April 21 2012 24 Team Autono Mo 5 5 GUI Update Time 1 Update Second 5 5 1 Description The GUI will need to be updated continuously in time intervals to ensure that the user has the most current information about the vehicle One update second should be fast enough to update the user 5 5 2 Source Team Autono Mo 5 5 3 Constraints The data transfer rate for the wireless module may limit this rate 5 5 4 Standards The system shall follow the wireless communications standard of IEEE 802 15 4 5 5 5 Priority 2 High 5 6 GPS Response Time Less Than 3 Seconds 5 6 1 Description The module will need to respond to new user GPS coordinates within a
34. on Team Autono Mo shall be available to fix software and hardware issues Should the system require maintenance that the end user cannot do through the use of the Maintenance Manual Team Autono Mo should be contacted in order to fix the issue s This service will be provided free of charge 7 4 2 Source Team Autono Mo 7 4 3 Constraints Team Autono Mo will not be responsible for maintenance issues after August 2012 7 4 4 Standards N A 7 4 5 Priority 1 Critical April 21 2012 31 Team Autono Mo 8 Other Requirements This section defines requirements that are not defined in any other section of this document 8 1 Using English as a Standard Language 8 1 1 Description Jacobia will use English as its official language throughout its implementation 8 1 2 Source Team Autono Mo 8 1 3 Constraints N A 8 1 4 Standards N A 8 1 5 Priority 1 Critical April 21 2012 32 Team Autono Mo 9 Acceptance Criteria Project Jacobia must satisfy the customer requirements in order to be labeled acceptable This section outlines the criteria in which the module will be accepted by the customer The acceptance criteria are derived from specific customer requirements defined in section 3 9 1 Verify that the module can effectively replace the vehicle s receiver 9 1 1 Requirement s addressed Requirement 3 1 Replacement of RC Vehicle Receiver 9 1 2 Verification Procedure After the module is connected it will be place
35. ority 1 Critical 6 6 Connection Time Out Control 6 6 1 Description The control module when disconnected from the host application shall adhere to a maximum timeout period of 10 seconds After this 10 second timeout period has been reached the system shall halt all operations and the vehicle shall stop moving 6 6 2 Source Chris McMurrough 6 6 3 Constraints N A 6 6 4 Standards N A 6 6 5 Priority 2 High April 21 2012 28 Team Autono Mo 7 Maintenance and Support Requirements The system shall have a limited expected lifetime due to continual use or wear and tear The battery life of the system shall also be limited Due to these constraints the system shall eventually require maintenance at one point or another Since this system comprises of an attachable module a wireless communications device and a software interface many of the maintenance issues will be with batteries cables antennas sensors and software The following requirements have to be met in order to make maintenance as simple as possible for the end user 7 1 Maintenance Manual 7 1 1 Description The system shall be delivered with a maintenance manual The system shall include a maintenance manual that tells the end user how to replace parts and or fix common issues with the system such as exchanging batteries exchanging parts cleaning the system and other simple tasks 7 1 2 Source Team Autono Mo 7 1 3 Constraints The maintenance manual sha
36. re 2 1 Jacobia Welcome Screen eu ee SERS SEE Sk ge Ee Ge ee ee ie SES ee SEP see EER Weed Ge Ge SEENEN NEE 4 Figure 2 2 Jacobia Vehicle Selection Screen 4 Figure 2 3 Jacobia Mounting Instructions Screen A Figure 2 4 Jacobia Establish Connection Screen 5 Figure 2 5 Jacobia Safety Instructions Screen 5 Figure 2 6 Jacobia Check Connections Screen 5 Figure 2 7 Jacobia In Transit Display Screen 6 April 21 2012 vii Team Autono Mo List of Tables Table Title Page Table 10 1 Expanded Use Case Table for Input GPS Destination eee eeeeseeeneeeneecneecnseenaecnaeenaeens 36 Table 10 2 Expanded Use Case Table for Uploading Configuration blei 36 Table 10 3 Expanded Use Case Table for Emergency Stop 37 Table 10 4 Expanded Use Case Table for Debug Mode 37 Table 11 1 Cost Analysis OVervieW uri ii diana 41 Table 11 2 This table shows all ILFs EIFs Els EOs and EQs for the project ss sesse esse se esse ee es se ee 43 Table 11 3 This table shows the Unadjusted Function Points for our system esse esse esse ee see se Ge ee ee ee 43 Table 11 4 This chart shows how we calculated our TDL A4 April 21 2012 viii Team Autono Mo 1 Product Concept The system will consist of a generic autonomous control module along with a host application software program The intent of this section is to fully describe how these two components in conjunction with one another will make up a product The information covered in this sectio
37. splay If all of this information is correct then this criterion will have been met April 21 2012 35 Team Autono Mo 10 Use Cases This section defines all of the user interactions which will occur with Jacobia 10 1 Input GPS Destination 10 1 1 Scenario The user enters the destination that the RC vehicle should travel to in proper GPS format This data will be analyzed by the system and the system will then direct the car to the specified destination 10 1 2 Actor s User 10 1 3 Expanded Use Case Table Input GPS Destination Actor User System Jacobia O System is in ready stage of operation 1 TUCBW User inputs the GPS destination 2 System operates and travels to provided into the system using the GUI destination 3 TUCEW User sees the vehicle has reached the final destination Table 10 1 Expanded Use Case Table for Input GPS Destination 10 2 Uploading Configuration File 10 2 1 Scenario The user shall upload a configuration file which tells the system about the vehicle which it is controlling 10 2 2 Actor s User 10 2 3 Expanded Use Case Table Uploading Configuration File Actor Developer System Jacobia System 0 System is in online mode connected to the subsystem wirelessly 1 TUCBW User uploads the Configuration file to 2 System confirms the configuration files the system being uploaded 3 TUCEW User sees confirmation message about files being upl
38. that our schedule is feasible Function Points The primary method used to estimate the size of Project Jacobia was that of function point calculation The tables below show this estimation April 21 2012 42 Team Autono Mo EET eceiver to ly EET t eos ILF N E nm EI EO EI EO EI EQ hardware EIF related data 5 7 channels n a n a n a n a n a n a n a n a n a n a Function Pe Tone Record Data File Types Unadjusted Name YP Element Type Element Type Referenced FPs 10 Table 11 2 This table shows all ILFs ETFs Els EOs and EQs for the project o Low 20 Average o High H E E m E z E o Low 10 Average o High 2 Low 12 Average 3 High 0 Low 1 Average 0 Low 6 Average E MOJO x X5 ss x10 200 48 30 Unadjusted Function Point Count Complexity Multiplier Line Item Sub Total 200 70 52 30 406 Table 11 3 This table shows the Unadjusted Function Points for our system April 21 2012 43 Team Autono Mo After this was complete we then calculated the Value Adjusted Factor based on the Total Degree of Influence chart below 14 factors Points 0 5 Data Communications Distributed Data Processing Performance Heavily Used Configuration Transaction Rate On line Data Entry End User Efficiency On line Update 9 Complex Processing 10 Reusability 11 Installation Ease 12
39. the abundance of critical requirements that must be met in the allotted time frame 12 3 Customer Requirement 3 27 Configuration File 12 3 1 Requirement Description The host application shall upload the configuration file to the system in order to operate within the bounds of the chosen RC vehicle This configuration file will include all the pertinent information needed to configure to a certain RC vehicle type 12 3 2 Constraint Time The time required to implement a non critical reguirement may not be available to the team due to the abundance of critical requirements that must be met in the allotted time frame April 21 2012 46 Team Autono Mo
40. ugh 3 19 3 Constraints The system may not be able to create a path depending on the environment as well as the quality of the sensors used 3 19 4 Standards N A 3 19 5 Priority 1 Critical 3 20 System Navigation 3 20 1 Description The control module shall make use of a weighted system when calculating its heading path that will take into account servo odometry and GPS signaling 3 20 2 Source Chris McMurrough 3 20 3 Constraints Bad readings from GPS signaling will create a need for the system to shift the weighting assigned to the two components of the navigation calculation 3 20 4 Standards N A 3 20 5 Priority 2 High April 21 2012 16 Team Autono Mo 3 21 Wireless Communication 3 21 1 Description The system shall interface wirelessly with the host application Any input or output from the system to the host application will be done using wireless technology 3 21 2 Source Chris McMurrough 3 21 3 Constraints The system should be in range of the wireless technology and within a maximum range of 120 feet The system uses a local wireless network therefore the LAN must be online and operational for the system to connect 3 21 4 Standards The system shall follow the wireless communications standard of IEEE 802 15 4 3 21 5 Priority 2 High 3 22 Location Information Transmission 3 22 1 Description The system when traveling from one location to another shall send relative location information t
41. ule predictably controls the motors and servos then this criterion will be met 9 5 Verify that the module can navigate the vehicle from its current location to a user defined GPS coordinate 9 6 9 5 1 Requirement s addressed Requirement 3 13 Input GPS Destination Requirement 3 15 Start to Finish Travel Requirement 3 16 RC Vehicle Trajectory Corrections Requirement 3 20 Path Finding Algorithm 9 5 2 Verification Procedure The module will be given a GPS coordinate It will then calculate its path to travel from its current location to the user defined location If the vehicle successfully navigates to the new location it shall meet this criterion Verify that the user can interact wirelessly with the module and receive location path and obstacle information through GUI software 9 6 1 Requirement s addressed Requirement 3 21 Wireless Communication Requirement 3 22 Location Information Transmission Requirement 3 23 Local Object Information Transmission Requirement 3 24 Information Reporting Requirement 3 25 Location Information Requirement 3 26 Host Application Local Obstacle Display Requirement 3 27 Configuration File April 21 2012 34 Team Autono Mo 9 6 2 Verification Procedure The user shall startup the GUI software The user will then upload a configuration file for the vehicle being used While the vehicle is in operation information regarding location obstacle location and obstacle di
42. vehicles and provide the RC vehicles with autonomous functionality The user when eguipped with the host application software will be able to send GPS coordinate information to a vehicle through the use of a wireless link between the host application and the control module The host application will house a fully functional easy to use GUI which will seamlessly display system information to the user 2 1 Features and Functions The product when interfaced with an RC vehicle will allow the vehicle to become an autonomous vehicle The RC vehicle will be linked to a host application which will be able to send the RC vehicle GPS coordinates in order for the vehicle to travel to a specific location autonomously avoiding obstacles in its path along the way The host application will have a rich user friendly graphical user interface This will allow the user to effortlessly link with the RC vehicle This linkage will be achieved through an embedded network connection on the control module This will allow it to transmit receive data with the application s host computer In order for the RC vehicle to be able to circumvent obstacles in its path the product will make use of an efficient path finding algorithm Referring to Figure 1 1 the product concept diagram the linkage is obtained through the wireless technology Furthermore the algorithms used as well as any other instructions used will be encoded onto microchips which will be embedded within the
43. wireless modules and miscellaneous circuitry All of these components are needed to fit into some type of relatively small module that can be easily attached to an RC vehicle These are all important components to achieving our goal of creating an autonomous RC vehicle The largest complication in regards to these components is successfully fitting them into a small module and attaching them to each other so that they can communicate RC vehicle integration includes everything that is needed to let our module communicate with the servos of the RC vehicle This will require us to send our own self generated PPM signals to the servos so that the vehicle can effectively follow our instructions Chris McMurrough has informed us about this process and has said that he is willing to help us with this portion of the design The April 21 2012 40 Team Autono Mo largest complication with this is making sure that the correct PPM signals are sent to the servos at the right times Through experimentation we will not have any problem getting this correct GUI design includes everything that is needed to allow the end user to interface with the device attached to their RC vehicle This GUI will have features such as current GPS position destination GPS position current heading vehicle type vehicle status and a vehicle information text box that includes all of the decisions the module is making The largest complication that arises with this portion of proje
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