Courses:Field Robot Summer Course:2012:Team 5

Sprints

Sprint 1 (August 7th to August 15th)

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.

Prototype

1. A prototype must be fully functional
2. The prototype must have articulated steering
3. The prototype must have LiPO battery management
4. The prototype must have PID controlled motors
5. The prototype must have FPGA implementation of motor control and sensor control
6. All electronics must be mounted solid on the prototype
7. The prototype should communication with a controller PC through Wifi

Final Vehicle

1. The overall design of the final vehicle must me done
2. An overview of all parts and mechanisms should be accomplished

Electronics

1. A PCB must be designed for extension of the FPGA board
2. The PCB for FPGA extension must be fabricated
3. A PCB must be designed for battery management
4. The PCB for battery management must be fabricated
5. Cables and connectors for all electronic components must be made
6. A wire network must be designed

Hardware Programming

1. A motor controller must be designed in VHDL
2. A PID controller must be designed in VHDL
3. An encoder reader must be designed in VHDL
4. A servo controller must be designed in VHDL
5. The TOSNET driver must be implemented and tested

Software Programming

1. High level steering control must be designed
2. A final communication structure in ROS must be designed
3. Data from the laser range scanner must be investigated
4. ROS drivers for TOSNET must be designed

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.