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Conceptual Design Review
Goal: Autonomously dock and undock with a modular pod and navigate in a geofenced environment
Team Align (J): Poorva, Rohan, Sachit, Sanil, Uma
Sponsor: PIX Moving
Mandatory Performance Requirements
1. Max speed with payload: 20kmph (FR2)
2. Plan a path between charges which is < 120 km (FR 2 & 3)
3. Max speed without payload: 25kmph (FR3)
4. Identify payload handling zone (PHZ) when chassis is at a distance of 2m from PHZ periphery (FR4)
5. Docking time (time from initiation to verification, including retries): < 120 seconds (FR6)
6. Docking alignment accuracy: ± 2 cm (FR6 & 7 & 8)
7. Latency of communication initiation, vehicle and sensor model update should be less than 1 minute (FR9 & 10 & 11)
8. Diagnose failures within 2000ms from occurrence (FR13)
9. Object detection accuracy: ± 5 cm (FR14)
10. Obstacle avoidance (distance to be maintained from obstacles): > 30 cm (FR14)
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Functional Requirements
1. Localize itself in the environment
2. Navigate from Point A to B with payload
3. Navigate from Point A to B without payload
4. Identify the payload handling zone
5. Plan an approach to the pod
6. Execute (un) docking procedure
7. Align with the (un) docking position
8. Verify that (un) docking is successful
9. Initiate/cease communication with the pod
10. Update the sensor configuration after (un) docking
11. Update the vehicle model after (un) docking
12. Provide diagnostic feedback
13. Diagnose failures
14. Respond to obstacles
Mandatory Non-Functional Requirements
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1. Use Autoware as framework for software stack
2. Operate in a geofenced environment
3. Operate on asphalt
4. Be powered by on-board battery
5. Communicate wirelessly in the ISM band
6. Payload capacity: <1000 kg
7. Be maintainable: code should be modular and well documented
8. Be unit testable
9. Be reliable: subsystems failure modes should be well-defined and detectable
10. Be compliant with relevant standards and regulations
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Functional Architecture
Cyber Physical
Architecture
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Navigation Subsystem
Subsystem Overview
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Docking Subsystem
Safety Subsystem
Work Breakdown Structure
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Task Dependencies
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Project Schedule for Spring 2020
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Project Deliverables for Spring Validation Demonstration (SVD)
Navigation Subsystem:
- Navigate from a location within geofenced environment to the payload handling zone (PHZ)
- Identify the markers within the payload handling zone (PHZ)
- Plan a path for aligning and docking with the payload
- Execute the plan to align and move the chassis under the payload
Docking Subsystem:
- Verify the position accuracy of docking
- Retrace the path in case docking is not successful
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Safety Subsystem:
- Detect and avoid obstacles while system is in motion
- Continuously monitor the state/health of the system and provide diagnostics
- Detect, diagnose and handle failures or emergencies
Risk Analysis
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Questions?