ASTM F3200-19
(Terminology)Standard Terminology for Driverless Automatic Guided Industrial Vehicles
Standard Terminology for Driverless Automatic Guided Industrial Vehicles
SCOPE
1.1 This terminology covers terms associated with unmanned (that is, driverless), ground (that is, land-based and in continuous contact with the ground), industrial vehicles. By providing a common and consistent lexicon, the purpose of this terminology is to facilitate communication between individuals who may be involved in the research, design, deployment, and use of unmanned ground vehicles, including but not limited to, for manufacturing, distribution, security, etc. The terminology covers terms used in performance test methods of automatic guided vehicles (AGVs), autonomous mobile robots, and all other driverless, ground vehicles. In addition, with increasingly intelligent vehicle systems with onboard equipment, robotics industry terms that are used in associated test methods and descriptions are also included.
1.2 For the terminology to be harmonious with the practices in the field, definitions have been drawn from the literature or other public sources when possible. When no definition is available, is similar but requires change for use within standards produced by Committee F45, or in dispute, a consensus-based approach will be used to resolve definitions and add them to the lexicon. The development of this terminology is taking place in close coordination with corresponding efforts in all Committee F45 subcommittees to ensure comprehensive and consistent coverage.
1.3 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.
1.4 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.
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Designation: F3200 − 19
Standard Terminology for
1
Driverless Automatic Guided Industrial Vehicles
This standard is issued under the fixed designation F3200; 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 2. Referenced Documents
2
1.1 This terminology covers terms associated with un-
2.1 ANSI/ITSDF Standard:
manned (that is, driverless), ground (that is, land-based and in
ANSI/ITSDF B56.5 Safety Standard for Driverless, Auto-
continuous contact with the ground), industrial vehicles. By
matic Guided Industrial Vehicles and Automated Func-
providingacommonandconsistentlexicon,thepurposeofthis
tions of Manned Industrial Vehicles
terminologyistofacilitatecommunicationbetweenindividuals 3
2.2 ISO Standard:
who may be involved in the research, design, deployment, and
ISO 8373 Robots and Robotic Devices—Vocabulary
use of unmanned ground vehicles, including but not limited to,
for manufacturing, distribution, security, etc. The terminology
3. Terminology
covers terms used in performance test methods of automatic
3.1 Definitions:
guided vehicles (AGVs), autonomous mobile robots, and all
A-UGV envelope, n—A-UGV contour area plus clearance.
otherdriverless,groundvehicles.Inaddition,withincreasingly
intelligent vehicle systems with onboard equipment, robotics
A-UGV operator, n—person responsible for initiating and
industry terms that are used in associated test methods and
monitoring vehicle operation.
descriptions are also included.
A-UGV system, A-UGVS, n—A-unmanned ground vehicle
1.2 For the terminology to be harmonious with the practices
and all associated components, equipment, software, and
in the field, definitions have been drawn from the literature or
communications necessary to make a fully functional sys-
other public sources when possible. When no definition is
tem.
available, is similar but requires change for use within stan-
A-UGV technician, n—person(s)responsibleforexecutingthe
dards produced by Committee F45, or in dispute, a consensus-
test procedures under supervision of the test supervisor.
based approach will be used to resolve definitions and add
them to the lexicon. The development of this terminology is
A-unmanned ground vehicle, A-UGV, n—automatic, auto-
taking place in close coordination with corresponding efforts in
mated or autonomous vehicle that operates while in contact
all Committee F45 subcommittees to ensure comprehensive
with the ground without a human operator.
and consistent coverage.
Ackermann steer, n—kinematic configuration for vehicles
1.3 This standard does not purport to address all of the
with pairs of wheels in which the front or rear wheels are
safety concerns, if any, associated with its use. It is the
pivoted to achieve steering.
responsibility of the user of this standard to establish appro-
DISCUSSION—The pivot angles of each wheel within the pivoted set
priate safety, health, and environmental practices and deter-
are calculated such that each wheel’s axle intersects a common point.
mine the applicability of regulatory limitations prior to use.
This common point serves as the instantaneous center of the vehicle’s
1.4 This international standard was developed in accor-
turning circle.
dance with internationally recognized principles on standard-
adaptive control, n—control scheme whereby the control
ization established in the Decision on Principles for the
system parameters are adjusted from conditions detected
Development of International Standards, Guides and Recom-
during the process.
mendations issued by the World Trade Organization Technical
Barriers to Trade (TBT) Committee.
aisle, n—in a facility, the passageway between locations where
temporary or permanent obstructions may exist.
1
This terminology is under the jurisdiction of ASTM Committee F45 on
2
Driverless Automatic Guided Industrial Vehicles and is the direct responsibility of Available from Industrial Truck Standards Development Foundation, 1750 K
Subcommittee F45.91 on Terminology. St., NW, Suite 460, Washington, DC 20006, http://www.itsdf.org.
3
Current edition approved Nov. 15, 2019. Published December 2019. Originally Available from International Organization for Standardization (ISO), ISO
approved in 2016. Last previous edition approved in 2018 as F3200 – 18a. DOI: Central Secretariat, BIBC II, Chemin de Blandonnet 8, CP 401, 1214 Vernier,
10.1520/F3200-19. Geneva, Switzerland, http://www.iso.org.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
1
---------------------- Page: 1 ----------------------
F3200 − 19
aisl
...
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: F3200 − 18a F3200 − 19
Standard Terminology for
1
Driverless Automatic Guided Industrial Vehicles
This standard is issued under the fixed designation F3200; 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 This terminology covers terms associated with unmanned (that is, driverless), ground (that is, land-based and in continuous
contact with the ground), industrial vehicles. By providing a common and consistent lexicon, the purpose of this terminology is
to facilitate communication between individuals who may be involved in the research, design, deployment, and use of unmanned
ground vehicles, including but not limited to, for manufacturing, distribution, security, etc. The terminology covers terms used in
performance test methods of automatic guided vehicles (AGVs), autonomous mobile robots, and all other driverless, ground
vehicles. In addition, with increasingly intelligent vehicle systems with onboard equipment, robotics industry terms that are used
in associated test methods and descriptions are also included.
1.2 For the terminology to be harmonious with the practices in the field, definitions have been drawn from the literature or other
public sources when possible. When no definition is available, is similar but requires change for use within standards produced
by Committee F45, or in dispute, a consensus-based approach will be used to resolve definitions and add them to the lexicon. The
development of this terminology is taking place in close coordination with corresponding efforts in all Committee F45
subcommittees to ensure comprehensive and consistent coverage.
1.3 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.
1.4 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.
2. Referenced Documents
2
2.1 ANSI/ITSDF Standard:
ANSI/ITSDF B56.5 Safety Standard for Driverless, Automatic Guided Industrial Vehicles and Automated Functions of Manned
Industrial Vehicles
3
2.2 ISO Standard:
ISO 8373 Robots and Robotic Devices—Vocabulary
3. Terminology
3.1 Definitions:
A-UGV envelope, n—A-UGV contour area plus clearance.
A-UGV operator, n—person responsible for initiating and monitoring vehicle operation.
A-UGV system, A-UGVS, n—A-unmanned ground vehicle and all associated components, equipment, software, and communi-
cations necessary to make a fully functional system.
A-UGV technician, n—person(s) responsible for executing the test procedures under supervision of the test supervisor.
1
This terminology is under the jurisdiction of ASTM Committee F45 on Driverless Automatic Guided Industrial Vehicles and is the direct responsibility of Subcommittee
F45.91 on Terminology.
Current edition approved April 1, 2018Nov. 15, 2019. Published May 2018December 2019. Originally approved in 2016. Last previous edition approved in 2018 as
F3200 – 18.F3200 – 18a. DOI: 10.1520/F3200-18A.10.1520/F3200-19.
2
Available from Industrial Truck Standards Development Foundation, 1750 K St., NW, Suite 460, Washington, DC 20006, http://www.itsdf.org.
3
Available from International Organization for Standardization (ISO), ISO Central Secretariat, BIBC II, Chemin de Blandonnet 8, CP 401, 1214 Vernier, Geneva,
Switzerland, http://www.iso.org.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
1
---------------------- Page: 1 ----------------------
F3200 − 19
A-unmanned ground vehicle, A-UGV, n—automatic, automated or autonomous vehicle that operates while in contact with the
ground without a human operator.
Ackermann steer, n—kinematic configuration for vehicles with pairs of wheels in which the front or rear wheels are pivoted to
achieve steering.
DISCUSSION—
The pivot angles of each wheel within the pivoted set are calculated such that each wheel’s axle intersects
...
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