ASTM F3588-22

Standard Guide for Set of Objects used with A-UGVs

SIGNIFICANCE AND USE
4.1 A-UGVs navigate, dock, or perform other tasks, or combinations thereof, within for example manufacturing, warehouse, hospital, and other environments. Objects (defined in Terminology F3200 as anything in the environment that is not infrastructure) and obstacles (defined in Terminology F3200 as static or moving objects that obstruct the intended movement) are common within these environments. Objects can cause A-UGV challenges in navigation, docking, etc. (see Test Method F3244, Guide F3470) where the object detection systems must provide the highest level of performance to allow safe and productive vehicle use. ASTM Committee F45 surveyed the A-UGV community of manufacturers, users, and researchers, and determined that a relatively short list of objects are the most common objects that their vehicles must detect and avoid. Additionally, ANSI/ITSDF B56.5 includes three test pieces that represent (1) the human body torso lying horizontally and (2) standing human leg, both with worst case, flat black coatings, and (3) flat objects (for example, boxes, doors, manufactured materials), including a worst case, highly (optically) reflective coating. The survey results are listed here and are considered example objects found in warehousing/manufacturing, healthcare, domestic, and retail environments:  
4.1.1 Pallets, racking, wheeled carts;  
4.1.2 Other A-UGVs or AMRs;  
4.1.3 Steps or stairs;  
4.1.4 Tables or desks, ladders;  
4.1.5 Cables or hoses, or both;  
4.1.6 Chairs, overhangs (that is, on objects);  
4.1.7 IV poles; and  
4.1.8 Forklifts/forklift tines.
As some objects may not be cost-effectively available for only A-UGV object detection tests (for example, 4.1.2, 4.1.3, and 4.1.8), the remaining objects are potentially more cost-effective as objects and are described in this guide as the standard set of objects.  
4.2 The objects can vary greatly within their category. For example, pallets can be made of wood, plastic, or metal; have a variety of ...
SCOPE
1.1 This standard guide provides a standard set of reference objects for use with automatic, automated, or autonomous unmanned ground vehicles (A-UGVs). The objects set includes typical objects found within industrial areas including, but not limited to: warehouses, hospitals, office spaces, and manufacturing facilities. Also, the objects set includes three test pieces from ANSI/ITSDF B56.5. The objects set is intended for use by A-UGV manufacturers and users to test the performance of A-UGVs when near the object(s). The objects set is minimized to include characteristics that have proven to cause interrupted A-UGV operation. Beyond this set of objects, Test Method F3418 is used to record most any object.  
1.2 The objects set contains one each of the following items: pallet, racking, ladder, cable cover, table, cart, intravenous (IV) pole, chair, forklift tines, and test pieces shown in ANSI/ITSDF B56.5, including a horizontal cylinder, vertical cylinder, and flat plate. The objects set is not intended to be exhaustive.  
1.3 It is intended that the objects set mainly includes off-the-shelf items. This standard guide provides a reporting method to provide obstacle information (for example, model, serial number, photograph) to allow obstacle use for exact replication of tests.  
1.4 The values stated in SI units are to be regarded as the standard. The values given in parentheses are not precise mathematical conversion to imperial units. They are close approximate equivalents for the purpose of specifying material dimensions or quantities that are readily available to avoid excessive fabrication costs of test apparatuses 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.  
1.5 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the re...

General Information

• Status: Published
• Publication Date: 30-Sep-2022
• ICS: 35.240.60 - IT applications in transport
• ICS: 43.020 - Road vehicles in general
• Technical Committee: F45 - Robotics, Automation, and Autonomous Systems
• Drafting Committee: F45.03 - A-UGV Object Detection and Protection

Relations

• Refers: ASTM F3200-23 - Standard Terminology for Robotics, Automation, and Autonomous Systems
• Effective Date: 01-Dec-2023
• Refers: ASTM F3418-20 - Standard Test Method for Measurement of Transition Temperatures of Slack Waxes used in Equine Sports Surfaces by Differential Scanning Calorimetry (DSC)
• Effective Date: 01-Jan-2020
• Refers: ASTM F3381-19 - Standard Practice for Describing Stationary Obstacles Utilized within A-UGV Test Methods
• Effective Date: 01-Dec-2019
• Refers: ASTM F3200-19 - Standard Terminology for Driverless Automatic Guided Industrial Vehicles
• Effective Date: 15-Nov-2019
• Refers: ASTM F3200-18a - Standard Terminology for Driverless Automatic Guided Industrial Vehicles
• Effective Date: 01-Apr-2018
• Refers: ASTM F3200-18 - Standard Terminology for Driverless Automatic Guided Industrial Vehicles
• Effective Date: 01-Feb-2018
• Refers: ASTM F3200-17b - Standard Terminology for Driverless Automatic Guided Industrial Vehicles
• Effective Date: 15-Aug-2017
• Refers: ASTM F3200-17a - Standard Terminology for Driverless Automatic Guided Industrial Vehicles
• Effective Date: 01-Jun-2017
• Refers: ASTM F3200-17 - Standard Terminology for Driverless Automatic Guided Industrial Vehicles
• Effective Date: 15-May-2017
• Refers: ASTM F3200-16 - Standard Terminology for Driverless Automatic Guided Industrial Vehicles
• Effective Date: 15-Oct-2016

Overview

ASTM F3588-22 is the Standard Guide for Set of Objects used with Automatic, Automated, or Autonomous Unmanned Ground Vehicles (A-UGVs). Developed by ASTM International, this guide defines a standard set of reference objects to be used for testing and evaluating the performance of A-UGVs in various industrial, commercial, and healthcare environments. These objects represent typical obstacles and conditions that A-UGVs encounter in real operations, ensuring consistent and repeatable tests for navigation, object detection, and avoidance systems.

Key Topics

• Standard Reference Objects: The guide specifies a minimized but representative set of commonly encountered objects for use in A-UGV performance testing.
• Object Categories: Includes items such as pallets, racking, carts, ladders, tables, cable covers, chairs, IV poles, forklift tines, and specific test pieces from ANSI/ITSDF B56.5.
• Industry Environments: Applicable in warehouses, manufacturing facilities, hospitals, offices, and retail spaces where A-UGVs operate.
• Test Method Consistency: Provides guidance for repeatable and reproducible testing, supporting safe and effective implementation of A-UGVs.
• Reporting Requirements: A standardized method for documenting and reporting object specifications (model, serial number, photographs) to enable reliable test replication.

Applications

For Manufacturers

• Design Validation: Test A-UGV sensing and navigation functions against a consistent set of real-world obstacles to enhance reliability.
• Performance Benchmarking: Compare A-UGV capabilities with industry benchmarks using standard object sets, supporting continuous improvement.

For Users and Integrators

• Site Acceptance Testing: Evaluate new or deployed A-UGV systems in facilities using the standardized object set to confirm safe operation.
• Routine Maintenance Checks: Periodically assess sensor performance and object avoidance capabilities as part of ongoing fleet maintenance.

For Researchers

• Data Collection: Facilitate reproducible experiments using defined objects, supporting comparative studies and publications.
• Algorithm Development: Test and refine object detection and avoidance algorithms with realistic, consistent test objects.

Typical Objects in the Set

The standard set of objects includes, for example:

• Pallets (e.g., wood, plastic, or metal)
• Racking and shelving
• Utility carts
• Ladders and tables
• Cable covers
• Office chairs
• IV poles (for healthcare environments)
• Forklift tines
• ANSI/ITSDF B56.5 test pieces: horizontal cylinder (to simulate a human body torso), vertical cylinder (to simulate a standing human leg), and a flat plate (for high reflectivity obstacles)

Related Standards

The following standards are referenced or commonly used alongside ASTM F3588-22:

• ASTM F3200: Terminology for Driverless Automatic Guided Industrial Vehicles – provides definitions for terms such as objects and obstacles.
• ASTM F3244: Test Method for Navigation: Defined Area – relevant for navigation performance in mapped spaces.
• ASTM F3381: Practice for Describing Stationary Obstacles Utilized within A-UGV Test Methods – supports documentation of custom or unique obstacles.
• ASTM F3470: Guide for A-UGV Capabilities – complements F3588 in specifying A-UGV functionalities.
• ANSI/ITSDF B56.5: Safety Standard for Driverless, Automatic Guided Industrial Vehicles – key for incorporating safety-relevant test pieces.

Practical Value

Implementing ASTM F3588-22 ensures that automated guided vehicles and mobile robots are tested against a realistic set of conditions, helping stakeholders improve safety, efficiency, and interoperability. By following a common set of objects and reporting practices, the guide facilitates transparent, repeatable, and internationally recognized testing procedures, supporting the advancement, standardization, and trust in A-UGV technology across diverse industries.

Keywords: ASTM F3588-22, standard guide, A-UGV, unmanned ground vehicle, object detection, mobile robot, warehouse automation, industrial robot testing, ANSI/ITSDF B56.5

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: F3588 − 22
Standard Guide for
Set of Objects used with A-UGVs
This standard is issued under the fixed designation F3588; 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 1.6 This international standard was developed in accor-
dance with internationally recognized principles on standard-
1.1 This standard guide provides a standard set of reference
ization established in the Decision on Principles for the
objects for use with automatic, automated, or autonomous
Development of International Standards, Guides and Recom-
unmannedgroundvehicles(A-UGVs).Theobjectssetincludes
mendations issued by the World Trade Organization Technical
typical objects found within industrial areas including, but not
Barriers to Trade (TBT) Committee.
limited to: warehouses, hospitals, office spaces, and manufac-
turing facilities. Also, the objects set includes three test pieces
2. Referenced Documents
from ANSI/ITSDF B56.5. The objects set is intended for use
2.1 ASTM Standards:
byA-UGV manufacturers and users to test the performance of
F3200 Terminology for DriverlessAutomatic Guided Indus-
A-UGVs when near the object(s). The objects set is minimized
trial Vehicles
to include characteristics that have proven to cause interrupted
F3244 Test Method for Navigation: Defined Area
A-UGV operation. Beyond this set of objects, Test Method
F3381 Practice for Describing Stationary Obstacles Utilized
F3418 is used to record most any object.
within A-UGV Test Methods
1.2 Theobjectssetcontainsoneeachofthefollowingitems:
F3418 TestMethodforMeasurementofTransitionTempera-
pallet,racking,ladder, cable cover, table, cart, intravenous(IV)
tures of Slack Waxes used in Equine Sports Surfaces by
pole,chair,forklifttines,andtestpiecesshowninANSI/ITSDF
Differential Scanning Calorimetry (DSC)
B56.5, including a horizontal cylinder, vertical cylinder, and
F3470 Guide for A-UGV Capabilities
flat plate. The objects set is not intended to be exhaustive.
2.2 Other Standards:
1.3 It is intended that the objects set mainly includes
ANSI/ITSDF B56.5 Safety Standard for Driverless, Auto-
off-the-shelf items. This standard guide provides a reporting
matic Guided Industrial Vehicles and Automated Func-
method to provide obstacle information (for example, model,
tions of Manned Industrial Vehicles
serial number, photograph) to allow obstacle use for exact
replication of tests. 3. Terminology
3.1 Generic terminology for this guide is referenced in
1.4 The values stated in SI units are to be regarded as the
standard. The values given in parentheses are not precise Terminology F3200.
mathematical conversion to imperial units. They are close
3.2 Definitions of Terms Specific to This Standard:
approximate equivalents for the purpose of specifying material
3.2.1 standard object, n—a select item in the environment
dimensions or quantities that are readily available to avoid
that is not infrastructure.
excessive fabrication costs of test apparatuses while maintain-
3.2.1.1 Discussion—Standard objects are selected through
ing repeatability and reproducibility of the test method results.
survey or ballot, or both, by ASTM Committee F45 and are
These values given in parentheses are provided for information
commonly found within A-UGV environments.
only and are not considered standard.
4. Significance and Use
1.5 This standard does not purport to address all of the
safety concerns, if any, associated with its use. It is the
4.1 A-UGVs navigate, dock, or perform other tasks, or
responsibility of the user of this standard to establish appro-
combinations thereof, within for example manufacturing,
priate safety, health, and environmental practices and deter-
warehouse, hospital, and other environments. Objects (defined
mine the applicability of regulatory limitations prior to use.
For referenced ASTM standards, visit the ASTM website, www.astm.org, or
This guide is under the jurisdiction of ASTM Committee F45 on Robotics, contact ASTM Customer Service at [e-mail]. For Annual Book of ASTM
Automation, and Autonomous Systems and is the direct responsibility of Subcom- Standards volume information, refer to the standard’s Document Summary page on
mittee F45.03 on Object Detection and Protection. the ASTM website.
Current edition approved Oct. 1, 2022. Published November 2022. DOI: Available from American National Standards Institute (ANSI), 25 W. 43rd St.,
10.1520/F3588-22. 4th Floor, New York, NY 10036, http://www.ansi.org.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
F3588 − 22
in Terminology F3200 as anything in the environment that is ASTMCommitteeF45tobecommoninA-UGVenvironments
not infrastructure) and obstacles (defined in Terminology and that can be used to test A-UGV obstacle detection and
F3200 as static or moving objects that obstruct the intended avoidance performance.
movement) are common within these environments. Objects
5.2 The standard set of objects do not include nor are
can cause A-UGV challenges in navigation, docking, etc. (see
representative of all objects common within A-UGV environ-
Test Method F3244, Guide F3470) where the object detection
ments. The object set provides a representative object set that
systemsmustprovidethehighestlevelofperformancetoallow
allows repeatable testing between A-UGV manufacturers,
safe and productive vehicle use. ASTM Committee F45 sur-
users, and researchers. The objects can be constructed (for
veyed the A-UGV community of manufacturers, users, and
example, pallet, table), if necessary, by the user as described in
researchers, and determined that a relatively short list of
5.4. When not constructed, the exact model name and number
objects are the most common objects that their vehicles must
shall be provided.
detect and avoid. Additionally, ANSI/ITSDF B56.5 includes
5.3 The exact objects shown in this guide allow for test
three test pieces that represent (1) the human body torso lying
replication. In the event that the exact object described herein
horizontally and (2) standing human leg, both with worst case,
is not available, an object with features, coatings, and all other
flat black coatings, and (3) flat objects (for example, boxes,
specifications should be used with full specifications and
doors, manufactured materials), including a worst case, highly
description provided on the report form provided in Practice
(optically) reflective coating. The survey results are listed here
F3381, such that test replication can occur.
and are considered example objects found in warehousing/
manufacturing, healthcare, domestic, and retail environments: 5.4 The standard set of objects are listed and described as
4.1.1 Pallets, racking, wheeled carts;
follows:
4.1.2 Other A-UGVs or AMRs; 5.4.1 Pallet—The standard pallet, as shown in Fig. 1,is
4.1.3 Steps or stairs;
commonly used to hold goods or equipment, and is moveable
4.1.4 Tables or desks, ladders; using a forklift or pallet jack. The example pallet included in
4.1.5 Cables or hoses, or both;
the set of standard objects in this guide includes the following
4.1.6 Chairs, overhangs (that is, on objects); specifications:
4.1.7 IV poles; and
5.4.1.1 Wood GMA (Grocery Manufacturers Association)
4.1.8 Forklifts/forklift tines. pallet;
As some objects may not be cost-effectively available for
NOTE 1—In 2020, Grocery ManufacturersAssociation (GMA) changed
only A-UGV object detection tests (for example, 4.1.2, 4.1.3,
to the Consumer Brands Association (CBA).
and 4.1.8), the remaining objects are potentially more cost-
5.4.1.2 Size—122 cm wide by 102 cm deep by 12 cm high
effective as objects and are described in this guide as the
(48 in. wide by 40 in. deep by 4.75 in. high);
standard set of objects.
5.4.1.3 Top—A14cmby102cm(5 ⁄2 in.by40in.)boardon
4.2 The objects can vary greatly within their category. For
each end and five 9 cm by 102 cm (3 ⁄2 in. by 40 in.) boards in
example, pallets can be made of wood, plastic, or metal; have
the center, all boards 1.6 cm (0.625 in.) thick;
a variety of dimensions; can have wheels or no wheels on the 1
5.4.1.4 Bottom—A 14 cm by 102 cm (5 ⁄2 in. by 40 in.)
bottom; are not coated or coated with varying reflective 1
board on each end and three 9 cm by 102 cm (3 ⁄2 in. by 40 in.)
coatings. As such, the standard objects set provided in this
boardsbetweenthenotches,allboards1.6cm(0.625in.)thick;
guide describes a specific set of objects and characteristics that
5.4.1.5 Stringers—122 cm long by 9 cm high by 4 cm thick
are highly repeatable across their users.
(48 in. long by 3.5 in. high by 1.5 in. thick) stringers;
5.4.1.6 Capacity—1136 kg (2500 lb);
4.3 The number of objects within the set is expected to
5.4.1.7 Fork Access—4-way;
increase as A-UGVs improve in capabilities and intelligence,
5.4.1.8 Weight—19 kg (42 lb); and
and therefore, where A-UGV implementations expand.
5. Objects
iGPS, Standard GMA Pallet Dimensions: Why 48”X40” Uniformity Matters,
5.1 This section provides a description of a set of standard
https://igps.net/blog/2018/06/21/standard-gma-pallet-dimensions-why-48x40-
objects, which may also be obstacles, that were selected by uniformity-matters/, accessed April 7, 2022.
FIG. 1 Pallet
F3588 − 22
5.4.1.9 No coating. 5.4.5 Step Ladder—A typical 1.8 m (6 ft) step ladder, as
shown in Fig. 5, consists of repeated bars or steps (rungs)
5.4.2 Rack—Rack, as shown in Fig. 2, is commonly used in
between two upright lengths of metal, wood, fiberglass, or
warehouses and manufacturing facilities, among other
organizations, and used as shelving for pallets, goods and rope, and
...