ASTM F3381-19
(Practice)Standard Practice for Describing Stationary Obstacles Utilized within A-UGV Test Methods
Standard Practice for Describing Stationary Obstacles Utilized within A-UGV Test Methods
SIGNIFICANCE AND USE
4.1 This section lists and explains the characteristics that are used to describe a stationary obstacle.
4.2 It is essential that sufficient information about the obstacle is recorded using this practice so that the obstacle can be replicated. This will allow comparisons to be made between test method performances that use obstacles with similar characteristics.
4.3 Class:
4.3.1 When describing an obstacle to be utilized in ASTM Committee F45 test methods, two classes are defined:
4.3.1.1 Genuine—The obstacle being described is an existing real world object (for example, a chair, table, machinery, or equipment). Any identifying information, such as make, model, SKU, etc., should be recorded.
4.3.1.2 Artifact—The obstacle being described has been constructed according to the characteristics outlined in this section. Obstacles of this class are intended to be replicable.
4.4 Parts of the Obstacle:
4.4.1 Each characteristic can be used to describe a property of the entire obstacle or a part of the obstacle. All parts of the obstacle must be uniquely named and identified in the test report described in Section 6.
4.5 Shape:
4.5.1 The shape refers to the relationships between the external, physical boundaries of the obstacle. All shapes can be in contact with the ground or elevated above the ground (see Fig. 1, Fig. 2, and Fig. 3). The unique obstacle shapes are:
4.5.1.1 Bar (for example, column)
4.5.1.2 Panel (for example, sign, pallet, shelf)
4.5.1.3 Cuboid
4.5.1.4 Sphere
4.5.1.5 Cone
4.5.1.6 Other—Obstacle shapes that do not fall into one of the above categories (for example, a pile of fabric). An obstacle can use a single shape to describe its overall volume or multiple shapes to describe parts of the obstacle. For example, the shape of a desk could be described as an elevated horizontal panel with two vertical panels spanning from the ground to the horizontal panel or the shape of a table could be described as an elevated hori...
SCOPE
1.1 This practice specifies physical characteristics that can be used to describe obstacles utilized within ASTM Committee F45 test methods. The obstacle characteristics specified in this practice are not described with respect to the manner in which they will be sensed or detected by an A-UGV. Rather, the obstacles are described according to their real world characteristics. For example, the real world characteristics of a wooden box that is flat black on one side can be described according to its actual dimensions, material, and color. An A-UGV with a lidar sensor may have difficulty detecting the side of the box that is flat black, which could make the obstacle appear smaller to the A-UGV compared to its actual dimensions in the real world. However, this may not be the case for other A-UGVs due to the wide variety of sensors used to detect obstacles, so the actual, real world characteristics are used to describe it instead.
1.2 Real world, existing objects can be used as obstacles and described using this practice. The characteristics specified herein can also be used to construct test artifacts to use as representative obstacles that are intended to have similar characteristics to that of real world obstacles. The obstacles that can be described using this practice may be found in indoor and outdoor environments.
1.3 This practice does not purport to cover all relevant obstacle characteristics that may have an effect on A-UGV performance. The characteristics specified in this practice are limited to the physical properties which are considered to be the most salient in terms of the effects they can have on A-UGV performance. As such, the user of this standard may select the level of detail to use in order to describe the characteristics of an obstacle in such a way. The characteristics are also limited to those which are more easily measurable and replicable when comparing test method results that use similar o...
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Standards Content (Sample)
This international standard was developed in accordance with internationally recognized principles on standardization established in the Decision on Principles for the
Development of International Standards, Guides and Recommendations issued by the World Trade Organization Technical Barriers to Trade (TBT) Committee.
Designation: F3381 − 19
Standard Practice for
Describing Stationary Obstacles Utilized within A-UGV Test
1
Methods
This standard is issued under the fixed designation F3381; the number immediately following the designation indicates the year of
original adoption or, in the case of revision, the year of last revision. A number in parentheses indicates the year of last reapproval. A
superscript epsilon (´) indicates an editorial change since the last revision or reapproval.
INTRODUCTION
Automatic, automated, or autonomous unmanned ground vehicles (A-UGVs) in many scenarios
encounter obstacles or objects that obstruct or impair their intended movement. This practice is used
to describe stationary objects that serve as obstacles inASTM Committee F45 test methods, both for
existing, real world obstacles and for test artifacts that can be constructed to serve as representative
obstacles.ExamplesofusingobstaclesintestmethodsincludeaddinganobstacleintotheTestMethod
F3244 – 17 apparatus or verifying a sensor’s ability to detect an obstacle. Several physical
characteristics of stationary obstacles are defined in this standard, such as geometry, surface, and
configuration. The characteristics specified herein can be used to describe common, real world
obstacles that A-UGVs typically interact with, such as pallets on the ground, desks and tables, and
otherA-UGVs. This practice only covers obstacles or objects that exist on or above the ground plane
and remain stationary while the A-UGV is performing its task.
1. Scope characteristics to that of real world obstacles. The obstacles
that can be described using this practice may be found in
1.1 This practice specifies physical characteristics that can
indoor and outdoor environments.
be used to describe obstacles utilized withinASTM Committee
F45 test methods. The obstacle characteristics specified in this
1.3 This practice does not purport to cover all relevant
practice are not described with respect to the manner in which obstacle characteristics that may have an effect on A-UGV
they will be sensed or detected by an A-UGV. Rather, the
performance. The characteristics specified in this practice are
obstacles are described according to their real world charac- limited to the physical properties which are considered to be
teristics. For example, the real world characteristics of a
the most salient in terms of the effects they can have on
wooden box that is flat black on one side can be described A-UGV performance. As such, the user of this standard may
according to its actual dimensions, material, and color. An
select the level of detail to use in order to describe the
A-UGV with a lidar sensor may have difficulty detecting the characteristics of an obstacle in such a way.The characteristics
sideoftheboxthatisflatblack,whichcouldmaketheobstacle
are also limited to those which are more easily measurable and
appear smaller to the A-UGV compared to its actual dimen- replicable when comparing test method results that use similar
sions in the real world. However, this may not be the case for
obstacles.
otherA-UGVs due to the wide variety of sensors used to detect
1.4 This practice only covers obstacles that exist on or
obstacles, so the actual, real world characteristics are used to
above the ground, sometimes referred to as positive obstacles,
describe it instead.
and remain stationary while the A-UGV is performing tasks.
1.2 Realworld,existingobjectscanbeusedasobstaclesand
Stationary real world obstacles of this type include pallets on
described using this practice. The characteristics specified
the ground, desks and tables, and otherA-UGVs. This practice
herein can also be used to construct test artifacts to use as
does not include obstacles that exist below the ground (for
representative obstacles that are intended to have similar
example, holes), sometimes referred to as negative obstacles.
This practice does not cover boundaries or features in an
environment that are unchanging and known prior to an
1
This test method is under the jurisdiction of ASTM Committee F45 on
Driverless Automatic Guided Industrial Vehicles and is the direct responsibility of A-UGV task, such as walls, racks, or other infrastructure.
Subcommittee F45.03 on Object Detection and Protection.
1.5 This practice specifies a variety of physical characteris-
Current edition approved Dec. 1, 2019. Published December 2019. DOI:
10.1520/F3381-19. tics of an obstacle, including shapes, dimensions, and surface
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
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F3381 − 19
qualities. Thi
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