ASTM F3327-18
(Practice)Standard Practice for Recording the A-UGV Test Configuration
Standard Practice for Recording the A-UGV Test Configuration
SIGNIFICANCE AND USE
5.1 The significance of the information to be recorded in a test report allows for A-UGV performance to be contextualized with A-UGV configuration.
5.2 Limitations of the practice are that not all A-UGVs have the same capabilities or configuration parameters. For example, for capabilities, a vehicle that remaps during navigation versus another vehicle that uses a static map may behave differently in repeated runs of an obstacle avoidance test. For configuration, a vehicle that remaps during navigation may have varying times that obstacles remain in the map for test recreation.
5.3 The environment map used by the A-UGV, developed through localization including any landmarks, shall be saved as used on the A-UGV and should be saved and provided as a human-readable layout on or off the A-UGV (see Appendix X1 showing a sample layout drawing).
5.4 The main A-UGV hardware parameters shall be recorded as follows:
5.4.1 Make and Model
5.4.2 Part Number
5.4.3 Serial Number
5.4.4 Hardware Revision number (if any)
5.4.5 Number of drive/steer wheels
5.4.6 Steering type
5.4.7 Type: for example, Fork, Tugger, Unit Load, Cart
5.4.8 Loaded/Unloaded
5.5 The main A-UGV software parameters shall be recorded as follows:
5.5.1 All applicable software and firmware versions.
5.5.2 Velocity – translation and rotation, minimum/maximum.
5.5.3 Acceleration – translation and rotation, minimum/maximum.
5.5.4 Stand-off distances – safety sensor thresholds, obstacle avoidance thresholds.
5.6 The context for the test shall be recorded by providing detailed answers to the following questions:
5.6.1 When are the various software configurations used during the test? For example, two software versions may be required as follows: Use configuration A for straight aisles and configuration B for turns.
5.6.2 What other hardware and software parameters/settings are required to recreate the A-UGV behavior (that is, attached debug, settings, or other fi...
SCOPE
1.1 This practice describes a means to record the A-UGV configuration when testing. The practice provides a method for recording A-UGV hardware and software control parameters and describes high-level capabilities, such as used for A-UGV safety and navigation.
1.2 This practice: contextualizes the A-UGV configuration during a test, including the identification and adjustment of main configuration parameters; provides the proper context for test results; provides a basis for comparison of the test circumstances across different vehicles or tests, or both; and allows a test to be recreated.
1.3 The values stated in SI units are to be regarded as the standard. The values given in parentheses are not precise mathematical conversions to imperial units. They are close approximate equivalents for the purpose of specifying A-UGV characteristics while maintaining repeatability and reproducibility of the test method results. These values given in parentheses are provided for information only and are not considered standard.
1.4 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety, health, and environmental practices and determine the applicability of regulatory limitations prior to use.
1.5 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.
General Information
Relations
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:F3327 −18
Standard Practice for
1
Recording the A-UGV Test Configuration
This standard is issued under the fixed designation F3327; 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 F3200 Terminology for DriverlessAutomatic Guided Indus-
trial Vehicles
1.1 This practice describes a means to record the A-UGV
configuration when testing.The practice provides a method for
3. Terminology
recording A-UGV hardware and software control parameters
3.1 Terms used within this practice refer to Terminology
and describes high-level capabilities, such as used for A-UGV
F3200.
safety and navigation.
4. Summary of Practice
1.2 This practice: contextualizes the A-UGV configuration
during a test, including the identification and adjustment of 4.1 This practice describes a method for recording the
A-UGV test configuration when performing tests described in
main configuration parameters; provides the proper context for
test results; provides a basis for comparison of the test A-UGV test methods. A-UGVs have a series of hardware and
software parameters that vary the vehicle functionality, for
circumstances across different vehicles or tests, or both; and
allows a test to be recreated. example:
4.1.1 DifferentA-UGVs may perform differently dependent
1.3 The values stated in SI units are to be regarded as the
upon their hardware setup and software capabilities and
standard. The values given in parentheses are not precise
settings; or
mathematical conversions to imperial units. They are close
4.1.2 The same A-UGV may perform differently dependent
approximate equivalents for the purpose of specifyingA-UGV
upon its hardware setup and software settings.
characteristics while maintaining repeatability and reproduc-
4.2 Main configuration parameters are, for example:
ibility of the test method results. These values given in
4.2.1 Hardware: A-UGV weight, size, wheelbase, drive/
parentheses are provided for information only and are not
steer method, load carry or pull method, sensors, and onboard
considered standard.
equipment (for example, roller tables or robot arms); and
1.4 This standard does not purport to address all of the
4.2.2 Software: control and monitor software, firmware
safety concerns, if any, associated with its use. It is the
versions, and software settings for maximum accelerations and
responsibility of the user of this standard to establish appro-
velocities, preferred paths, and restricted areas, among many
priate safety, health, and environmental practices and deter-
other possible hardware and software configuration param-
mine the applicability of regulatory limitations prior to use.
eters.
1.5 This international standard was developed in accor-
4.3 High level capabilities are, for example: obstacle
dance with internationally recognized principles on standard-
avoidance, path planning, localization method, safety.
ization established in the Decision on Principles for the
Development of International Standards, Guides and Recom-
4.4 This practice also contextualizes test results of a test
mendations issued by the World Trade Organization Technical
method by identifying main configuration parameters as re-
Barriers to Trade (TBT) Committee.
quested prior to the test method. A-UGV configuration is
reported using a standard method, defined in this practice,
2. Referenced Documents
which includes the documentation of the context for test
2
2.1 ASTM Standards:
results. For example, the result of a timed test could be
dependent upon varying speed constraints – anA-UGV having
a speed constraint of 1.5 m/s as compared to a speed constraint
1
This practice is under the jurisdiction of ASTM Committee F45 on Driverless
of 2.0 m/s. As such, comparing two A-UGV configurations
Automatic Guided Industrial Vehicles and is the direct responsibility of Subcom-
could allude to which parameters affect vehicle performance.
mittee F45.91 on Terminology.
Current edition approved July 1, 2018. Published August 2018. DOI: 10.1520/
5. Significance and Use
F3327-18.
2
For referenced ASTM standards, visit the ASTM website, www.astm.org, or
5.1 The significance of the information to be recorded in a
contact ASTM Customer Service at service@astm.org. For Annual Book of ASTM
test report allows forA-UGVperformance to be contextualized
Standards volume information, refer to the standard’s Document Summary page on
the ASTM website. with A-UGV configuration.
Copyright © ASTM Internati
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