5. Summation of Analysis (WIP)

Digesting all the analysis information on the previous pages is a challenge so this page provides a summary of the information as a table relating the tasks the rover must perform and the input or processing needed to implement the task. Some of the requirements listed on earlier pages are now processes in the header line. A solid black rectangle indicates the processes required by a task. 

Is this a complete and final listing of the tasks and processes? Most definitely not, but it is a good starting point from 30,000 feet, with some more detailed examinations in some cases. 

Tasks

Obstacle detection

Orange Fence Detection

Straight Servoing

Turn Servoing

Sample Detection

Landmark Detection

Sample Identification

Beacon Detection

IMU Input

Drive off platform

X

 

X

 

 

 

 

 

X

Initial bearing

 

 

 

 

 

X

 

 

 

Initial location

 

 

 

 

 

 

 

 

 

Dynamic bearing, i.e. as it moves

 

 

 

 

 

 

 

 

X

Dynamic location

 

 

 

 

 

X

 

 

 

Navigate to specific point

X

X

 

 

X

 

 

 

 

Search coverage

 

 

X

X

X

 

 

 

 

Approach sample

X

 

X

 

X

 

 

 

 

Detect possible tumble

 

 

 

 

 

 

 

 

X

Drive to sample, keeping it centered.

 

 

 

 

 

 

 

 

X

Verify sample is valid, i.e. not garbage or light through tree

 

 

 

 

 

 

X

 

 

Verify sample not previously collected

 

 

 

 

 

 

X

 

 

Pick up sample

 

 

X

 

 

 

 

 

 

Attempt collection again if not successful

 

 

 

 

 

 

X

 

 

Continually verify sample held

 

 

 

 

 

 

X

 

 

Determine bearing to starting platform

 

 

 

 

 

 

 

 

 

Drive to offset point in front of home beacon

 

X

 

 

X

X

 

 

X

Detect home beacon, the approach angle, and the front / back of beacon

 

 

 

 

 

 

 

X

 

Turn to face platform / beacon when at offset point

 

 

 

X

 

 

 

X

 

Determine slot position for this rover

 

 

 

 

 

 

 

 

 

Drive onto platform in line with slot position

 

 

X

 

 

 

 

 

X

Drop off sample 

 

 

 

 

 

 

 

 

 

Back off platform

X

 

X

 

 

 

 

 

X