Courses:Field Robot Summer Course:2012:Team 4

Sprints

Sprint 1 (August 7th to August 15th)

Sprint planning meeting August 7th

To have a simple design, two wheels, wooden plate, caster-wheel in the back.

Sprint backlog

1. As a robot owner I want a platform design optimized for robust, accurate and fast driving in row crops under the conditions described here. The platform design must support either trailed or carried implements for eg. crop scouting or weeding.
2. As a robot owner I want a drive train design optimized for robust driving under the conditions described here.
3. As a robot owner I want an energy source capable of delivering enough power for continuous driving in at least 15 minutes.
4. As a robot owner I want one or more fuses protecting the robot electronics.
5. As a robot owner I want a prototype of the designed platform.
6. As a robot owner I want a prototype of the designed drive train.
7. As a robot owner I want a robot computer for the platform supporting WIFI communication for remote monitoring and management.

Sprint review meeting and retrospective August 15th

The sprint1 backlog was acceptably completed, although story 5 and 6 was misplaced and will reoccur in sprint2. Also the powersupply should be properly calculated for the procurement of LiPo packs. The balance of the robot must be handled maybe by moving the rear wheel more backwards but mayby also by ramping down the motor when breaking. A light shield should be constructed for the chassis for preventing harm to plants. The robot should not be constructed to withstand hand hits from big rock or so. Maybe the robot could be weight optimissed by constructing it of lighter material, also by utillizing skeletic features. The expensive components(computer, laser range finder, FPGA board) should be properly protected.

Sprint 2 (August 15th to August 22th)

Sprint planning meeting August 13th

Much focus and energy should go into ROS and the software. Stories 8-11 of the product backlog are split up between sprint 2 and 3. A functioning and tested, but simple prototype of these stories should be made in sprint2, but refinement and excessive testing is planned for sprint 3.

More documentation of the project will be uploaded by the group

Sprint backlog

1. As a robot owner I want a prototype of the designed platform.
2. As a robot owner I want a prototype of the designed drive train.
3. As a robot owner I want an in-row positioning system capable of determining the robot position and orientation with respect to the crop rows.
4. As a robot owner I want a navigation system capable of navigating in-row based on the in-row positioning system.
5. As a robot owner I want a headland positioning system capable of detecting ends and beginning of crop rows.
6. As a robot owner I want a navigation system capable of making headland turns based on the headland positioning system.
7. As a robot owner I want the robot to be operational on wet soil/grass.
8. As a robot owner I want the robot to be operational during sunny and rainy conditions including rapid variations.
9. As a robot operator I want an emergency stop button which cuts the supply power to all actuators on the robot.
10. As a robot operator I want a start button which activates autonomous navigation in a row crop field.

Sprint review meeting and retrospective August 22th

We have't manage to fulfill all things in our sprint backlog. Points we have fulfilled is listed below.

1. Build a prototype (minus two sprochts).
2. Build a prototype of drive train.
3. Shield in gassfiber.
4. tosnet running.
5. Controlling motor speed a direction.
6. Communication to encoder(timeming problems concerning SPI).
7. in-row positioning, can only detect one line. Algorithm to navigate between two lines.
8. Made board to supply and optocoupler.

Concerning sprint 3, we have make a priority list, which is show below.

1. færdig samling a mekanisk(aksel) rød - Done
2. poster gul
3. montering af elektronik rød
4. fast gør computer rød
5. kommunikerer mellem ros og fpga rød
6. detect linie nr- 2 rød
7. encoder rød -Done
8. Speed pid gul
9. batteri gul
10. Headland gul
11. maling grøn
12. IMU gul
13. complet samling gul
14. Interface (start knap) gul
15. Nødstop grøn
16. Sikring gul

Product backlog

1. As a robot owner I want a platform design optimized for robust, accurate and fast driving in row crops under the conditions described here. The platform design must support either trailed or carried implements for eg. crop scouting or weeding.
2. As a robot owner I want a drive train design optimized for robust driving under the conditions described here.
3. As a robot owner I want an energy source capable of delivering enough power for continuous driving in at least 15 minutes.
4. As a robot owner I want one or more fuses protecting the robot electronics.
5. As a robot owner I want a prototype of the designed platform.
6. As a robot owner I want a prototype of the designed drive train.
7. As a robot owner I want a robot computer for the platform supporting WIFI communication for remote monitoring and management.
8. As a robot owner I want an in-row positioning system capable of determining the robot position and orientation with respect to the crop rows.
9. As a robot owner I want a navigation system capable of navigating in-row based on the in-row positioning system.
10. As a robot owner I want a headland positioning system capable of detecting ends and beginning of crop rows.
11. As a robot owner I want a navigation system capable of making headland turns based on the headland positioning system.
12. As a robot owner I want a state system capable of switching between in-row and headland navigation, and stop mode based on navigation sensors and user input.
13. As a robot owner I want the robot to be operational on wet soil/grass.
14. As a robot owner I want the robot to be operational during sunny and rainy conditions including rapid variations.
15. As a robot operator I want an emergency stop button which cuts the supply power to all actuators on the robot.
16. As a robot operator I want a start button which activates autonomous navigation in a row crop field.
17. As a robot operator I want visual or audio confirmation on the current mode or state of the robot.
18. As a robot owner I want a carried or trailed implement capable of detecting a marker (marker type freely defined by the development team) placed in a crop row along the path.
19. As a robot owner I want the robot to perform a creative behavior (freely defined by the development team) to allow participating in the FieldRobotEvent freestyle task.