3.6 Autonomous System

3.6.1 Objectives

• Robust navigation using ZED2i, GPS, IMU, encoders.
• Plan/execute paths to waypoints with obstacle avoidance.
• Accurate localization via fused VO/GPS/IMU.
• Real-time visualization/goal management via RViz or Base Station UI.

3.6.2 Functional Requirements

FR-6.1 Sensor Integration

• ZED2i provides stereo odometry + depth for local obstacle detection.
• GPS/IMU/encoders integrated for robust localization.
• All inputs time-synchronized and on standard topics.

FR-6.2 Mapping & Localization

• Use RTAB-Map (or equivalent) for local mapping with depth + odom.
• Maintain global map by combining GPS + local SLAM for long-range nav.
• Drift < 5% over 100 m vs ground-truth GPS.
• Publish /map, /odom, /tf.
• Survive short GPS losses using visual/inertial odometry.

FR-6.3 Navigation Stack

• Layered costmap:
  • Static layer,
  • Obstacle layer (ZED2i point cloud),
  • Inflation layer.
• Global planner: optimal paths to waypoints.
• Local planner: smooth, collision-free velocities within limits.
• Detect/avoid static & dynamic obstacles ≥ 30 cm.
• Auto re-plan when blocked.

FR-6.4 Waypoint Management

• Operators define/upload waypoint sequences via RViz or Base UI.
• Autonomous following of waypoint sequences.
• Dynamic replanning and mission resume if blocked.
• Waypoints logged for replay/debugging/analysis.

FR-6.5 Visualization & Operator Interface

• RViz shows pose, paths, costmaps, waypoints in real time.
• Operators can set/modify goals in RViz/Base UI.

FR-6.6 Configuration

• All parameters in navigation.yaml.

3.6.3 Non-Functional Requirements

ID	Type	Requirement
NFR-6.1	Performance	Local planner ≥ 10 Hz; global replanning ≥ 1 Hz.
NFR-6.2	Latency	Sensor→command loop ≤ 200 ms.
NFR-6.3	Reliability	Complete ≥ 50 m predefined mission without intervention.
NFR-6.4	Robustness	Tolerate GPS dropouts up to 10 s without losing localization.
NFR-6.5	Maintainability	Navigation configs documented.

3.6.4 Verification Criteria

• Complete 50 m course with ≥ 3 waypoints; no collisions or intervention.
• Detect/avoid ≥ 30 cm obstacles (static/dynamic).
• Auto re-plan and resume when blocked.
• Drift < 5% vs GPS over 100 m.
• RViz updates ≥ 10 Hz for pose/paths/costmaps/waypoints.
• End-to-end loop ≤ 200 ms during testing.
• Full simulation functionality (mapping, planning, execution) before field.