ASTM F3244-21
(Test Method)Standard Test Method for Navigation: Defined Area
Standard Test Method for Navigation: Defined Area
SIGNIFICANCE AND USE
5.1 A-UGVs operate in a wide range of applications such as manufacturing facilities and warehouses. Fig. 1 shows three example A-UGV types and test apparatus sizes to test A-UGVs intended for different vehicle tasks, types, sizes, and capabilities. Such sites can have both defined and undefined areas that are structured and unstructured. The testing results of the candidate A-UGV shall describe, in a statistically significant way, the ability of the A-UGV to navigate through a defined area with or without impairments. Whether or not an A-UGV is able to deviate from its path, or uses features of the local environment as input to its navigation method or both, should not result in a different test method. Rather, the capabilities of the A-UGV to adapt its navigation method in a given environment will be objectively determined by its performance in the test method.
5.2 Three different manners in which a test method apparatus can be rendered are specified for use: physical boundaries, virtual boundaries, and floor markings (see Section 6 for apparatus specifics). Two types of impairments are specified that can be utilized as the defined area as part of a navigation test: obstacles and communication impairments (see Section 7 for more detail). The apparatuses and impairments chosen shall be appropriate to the application and environment in which the A-UGV will be used.
5.3 These test methods address A-UGV performance requirements expressed by A-UGV manufacturers and potential A-UGV users. The performance data captured by these test methods are indicative of the capabilities of the A-UGV and the application represented by the test.
5.4 The test apparatuses are scalable to constrain A-UGV sizes in defined areas to meet current and advanced next generation manufacturing and distribution facility operations.
5.5 The standard apparatuses are specified to be easily fabricated to facilitate self-evaluation by A-UGV developers and users and provide practice tasks for...
SCOPE
1.1 Purpose:
1.1.1 The purpose of this test method is to evaluate an automatic, automated, or autonomous-unmanned ground vehicle’s (A-UGV) capability of traversing through a defined space with limited A-UGV clearance. This test method is intended for use by A-UGV manufacturers, installers, and users. This test method defines a set of generic 2D area shapes representative of user applications and for different A-UGV types.
1.1.2 A-UGVs shall possess a certain set of navigation capabilities appropriate to A-UGV operations. Two examples of such capabilities include A-UGV movement between structures that define the vehicle path or obstacle avoidance. A navigation system is the monitoring and controlling functions of the A-UGV, providing frequent A-UGV updates of vehicle movement from one place to another. A-UGV environments often include various constraints to A-UGV mobility, such as boundaries and obstacles. In this test method, apparatuses, impairments, procedures, tasks, and metrics are specified that apply constraints and thereby, standard test methods for determining an A-UGV’s navigation capabilities are defined.
1.1.3 This test method is scalable to provide a range of dimensions to constrain the A-UGV mobility during task performance.
1.1.4 A-UGVs shall be able to handle many types of open and defined area complexities with appropriate precision and accuracy to perform a particular task.
1.1.5 The required mobility capabilities include either preprogrammed movement, autonomous movement, or a combination of both, from a start location to an end location. Further mobility requirements may include: sustained speeds, vehicle reconfiguration to pass through defined spaces, payload, A-UGV movement within constrained volumes, A-UGV avoidance of obstacles while navigating, or other vehicle capabilities, or combinations thereof. This test method is designed such that a candidate A-UGV can be evaluated as to whe...
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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:F3244 −21
Standard Test Method for
1
Navigation: Defined Area
This standard is issued under the fixed designation F3244; 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.
1. Scope 1.1.6 This test method is used to evaluate the capabilities of
a single A-UGV operating with commands and data provided
1.1 Purpose:
to it by an operator (for example, locations of goal points, map
1.1.1 The purpose of this test method is to evaluate an
of the environment), as well as those derived from its own
automatic, automated, or autonomous-unmanned ground vehi-
sensors (for example, locations of obstacles in the
cle’s (A-UGV) capability of traversing through a defined space
environment), as opposed to information provided to it from
withlimitedA-UGVclearance.Thistestmethodisintendedfor
another A-UGV or fleet controller. There may be future
use by A-UGV manufacturers, installers, and users. This test
standardsthataddressthecapabilitiesofmultipleA-UGVs–or
method defines a set of generic 2D area shapes representative
fleets – that work together.
of user applications and for different A-UGV types.
1.1.7 Thistestmethoddoesnotconsidertheactofacquiring
1.1.2 A-UGVs shall possess a certain set of navigation
or removing payloads, such as picking up/dropping off a pallet
capabilities appropriate to A-UGV operations. Two examples
or connecting to/disconnecting from a trailer, during naviga-
of such capabilities include A-UGV movement between struc-
tion. The A-UGV may have a payload as part of its configu-
tures that define the vehicle path or obstacle avoidance. A
ration (see Practice F3327) that will be unchanged during the
navigation system is the monitoring and controlling functions
test. A future standard may address these types of capabilities
of the A-UGV, providing frequent A-UGV updates of vehicle
during navigation.
movement from one place to another. A-UGV environments
1.1.8 Performing Location—This test method shall be per-
often include various constraints to A-UGV mobility, such as
formed in a location where the apparatus and environmental
boundaries and obstacles. In this test method, apparatuses,
test conditions can be fully implemented. Environmental con-
impairments, procedures, tasks, and metrics are specified that
ditions are specified and recorded (see Practice F3218).
apply constraints and thereby, standard test methods for deter-
mining an A-UGV’s navigation capabilities are defined. 1.1.9 Additional test methods within Committee F45 are
1.1.3 This test method is scalable to provide a range of anticipated to be developed to address additional or advanced
dimensions to constrain the A-UGV mobility during task mobility capability requirements, such as a fleet of A-UGVs
performance. coordinating their movement through a facility.
1.1.4 A-UGVs shall be able to handle many types of open
1.2 Units—The values stated in SI units are to be regarded
and defined area complexities with appropriate precision and
as the standard.The values given in parentheses are not precise
accuracy to perform a particular task.
mathematical conversions to inch-pound units. They are close
1.1.5 The required mobility capabilities include either pre-
approximate equivalents for the purpose of specifying material
programmed movement, autonomous movement, or a combi-
dimensions or quantities that are readily available to avoid
nation of both, from a start location to an end location. Further
excessive fabrication costs of test apparatuses while maintain-
mobility requirements may include: sustained speeds, vehicle
ing repeatability and reproducibility of the test method results.
reconfiguration to pass through defined spaces, payload,
These values given in parentheses are provided for information
A-UGV movement within constrained volumes, A-UGV
only and are not considered standard.
avoidance of obstacles while navigating, or other vehicle
1.3 This standard does not purport to address all of the
capabilities, or combinations thereof. This test method is
safety concerns, if any, associated with its use. Safety standards
designed such that a candidate A-UGV can be evaluated as to
such as ANSI/ITSDF B56.5, ISO 3691-4:2020, or other safety
whether it meets a set of user application requirements.
standards should be followed. It is the responsibility of the user
of this standard to establish appropriate safety, health, and
1 environmental practices and determine the applicability of
This test
...
This document is not an ASTM standard and is intended only to provide the user of an ASTM standard an indication of what changes have been made to the previous version. Because
it may not be technically possible to adequately depict all changes accurately, ASTM recommends that users consult prior editions as appropriate. In all cases only the current version
of the standard as published by ASTM is to be considered the official document.
Designation: F3244 − 17 F3244 − 21
Standard Test Method for
1
Navigation: Defined Area
This standard is issued under the fixed designation F3244; 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.
1. Scope
1.1 Purpose:
1.1.1 The purpose of this test method is to evaluate an A-unmanned automatic, automated, or autonomous-unmanned ground
vehicle’s (A-UGV) capability of traversing through a defined space with limited A-UGV clearance. This test method is intended
for use by A-UGV manufacturers, installers, and users. This test method defines a set of generic 2D area shapes representative of
user applications and for different A-UGV types.
1.1.2 A-UGVs shall possess a certain set of navigation capabilities appropriate to A-UGV operations such as operations. Two
examples of such capabilities include A-UGV movement between structures that define the vehicle path. path or obstacle
avoidance. A navigation system is the monitoring and controlling functions of the A-UGV, providing frequent A-UGV updates of
vehicle movement from one place to another. A-UGV environments often include various constraints to A-UGV mobility. mobility,
such as boundaries and obstacles. In this test method, apparatuses, impairments, procedures, tasks, and metrics are specified that
apply constraints and thereby, standard test methods for determining an A-UGV’s navigation capabilities are defined.
1.1.3 This test method is scalable to provide a range of dimensions to constrain the A-UGV mobility during task performance.
1.1.4 A-UGVs shall be able to handle many types of open and defined area complexities with appropriate precision and accuracy
to perform a particular task.
1.1.5 The required mobility capabilities include preprogrammed or autonomous movement or botheither preprogrammed
movement, autonomous movement, or a combination of both, from a start pointlocation to an end point.location. Further mobility
requirements may include: sustained speeds, vehicle reconfiguration to pass through defined spaces, payload, A-UGV movement
within constrained volumes, A-UGV avoidance of obstacles while navigating, or other vehicle capabilities, or combinations
thereof. This test method is designed such that a candidate A-UGV can be evaluated as to whether or not it meets a set of user
application requirements.
1.1.6 This test method is used to evaluate the capabilities of a single A-UGV operating with commands and data provided to it
by an operator (for example, locations of goal points, map of the environment), as well as those derived from its own sensors (for
example, locations of obstacles in the environment), as opposed to information provided to it from another A-UGV or fleet
controller. There may be future standards that address the capabilities of multiple A-UGVs – or fleets – that work together.
1.1.7 This test method does not consider the act of acquiring or removing payloads, such as picking up/dropping off a pallet or
connecting to/disconnecting from a trailer, during navigation. The A-UGV may have a payload as part of its configuration (see
Practice F3327) that will be unchanged during the test. A future standard may address these types of capabilities during navigation.
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This test method is under the jurisdiction of ASTM Committee F45 on Driverless Automatic Guided Industrial VehiclesRobotics, Automation, and Autonomous Systems
and is the direct responsibility of Subcommittee F45.02 on Docking and Navigation.
Current edition approved July 1, 2017July 1, 2021. Published October 2017August 2021. Originally approved in 2017. Last previous edition approved in 2017 as
F3244 – 17. DOI: 10.1520/F3244-17.10.1520/F3244-21.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
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F3244 − 21
1.1.8 Performing Location—This test method shall be performed in a location where the apparatus and environmental test
conditions can be fully implemented. Environmental conditions are specified and recorded.recorded (see Practice F3218).
1.1.9 Additional test methods within Committee F45 are anticipated to be developed to address additional or advanced mobility
capability requirements.requirements, such as a fleet of A-UGVs coordinating their movement through a facility.
1.2 Un
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