This page is dedicated to contain all the tests that are interesting for the controller.

90 rotation on spot

Objective: Evaluate the robot at turning on itself using 90 degree turn. Typical trajectories: Do a square or a digital 8 to test both side rotation. What to look out:

• Verify that the robot turn on-spot without staying lock in the centroide of the corner.
• Verify that the robot does not overshoot when turning

Forward180forward

Objective: Evaluate if the robot can turn on himself 180 degree and compute correctly the closest pose. Typical trajectories: Drie a straight line (approx 10 meters) turn 180 on the spot and drive exactly in your footprint What to look out:

• If the robot correctly compute the closest point, the robot should repeat the trajectory correctly.
• In the calculation of the next point is bad, the robot will have a bad trajectory. This is particularly through if the orientation is bad.

The (I am far from the start) edgecase

Objective: Evaluate if the robot will select the correct orientation when executing the trajectory Typical trajectories:

1. Record a 5 meters straight line trajectory.
2. Manually drive the robot 2 meters back the start with a difference of 0 degree from the starting orientation.
3. Let it go. The robot should go close to its maximum speed to the start of the controller.
4. Stop it.
5. Repeat (2-4) but with all theses angles (45,90,135,180,). For 45 and 90 the robot should correct its orientation then continue. For 135,180 the robot should turn and to repeat the trajectory backwards.

The (I am far from the trajectory) edgecase

Objective: Evaluate if the robot will behave correctly if the controller is mistuned during the trajectory Typical trajectories:

1. Record a 10 meters straight line trajectory.
2. Manually drive the robot 2 meters to the right of the middle of the line with a difference of 0 degree from the starting orientation.
3. Let it go. The robot should go close to the trajectory
4. Stop it when it reach back the trajectory
5. Repeat (2-4) but with all theses angles (45,90,135,180,). TO VALIDATE