Obstacle Avoidance Experiment
type: ExperimentType
type: FAIRDigitalObject
conforms to: TrivialProfile
is materialized by: ObstacleAvoidanceDemo.ttl
comment: An experiment type focused on testing robot navigation around obstacles.
has parameter usage: Observed Robot Usage for Obstacle Avoidance
  type: ParameterUsage
  uses parameter: observedRobot
  has variable role: IndependentVariable
  is required: true
has parameter usage: Travel Time Usage for Obstacle Avoidance
  type: ParameterUsage
  uses parameter: travelTime
  has variable role: DependentVariable
  is required: true
has methodology spec: MethodologySpec
  BFO has part: ResearchObjectiveSpec
    description: The objective of the obstacle avoidance experiment is to demonstrate SherpaTT's ability to step over an obstacle without contact, thanks to its actively controlled suspension. For constrast, a variation of the experiment is conducted where the robot drives around the obstacle. This variation is also performed by ARTEMIS, which, due to its passive suspension, cannot step over the obstacle. Both variants are conducted only on moist and compacted soil.
  BFO has part: ExperimentSetupSpec
    description: The obstacle is a cuboid with variable dimensions (height, width, depth). It is placed half way between the start and finish line of the track, which has a total length of 5m. The sides of the cuboid are parallel to the ground, the start line, and the direction of the track.
  BFO has part: ProcedureSpec
    description: In an experiment run, the robot first drives at a constant commanded speed straight up to the obstacle. The operator then issues any commands necessary to either step over or drive around the obstacle, depending on the experiment variant. After a successful avoidance maneuver, the robot continues in a straight line towards the finish, at the intially commanded speed.
  BFO has part: SuccessCriteriaSpec
    description: The obstacle must be surpassed without making contact.