ASTM F3244-17
(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. 8 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 traverse the commanded path. 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 can be rendered are specified for use: physical boundaries, virtual boundaries, and floor markings (see Section 6 for apparatus specifics). The test method(s) 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 A-UGV developers, users, and potential users that exercise A-UGV actuators, sensors, and controls.
5.6 Although the test methods were developed first for A-UGVs, they may also be applicable to mobile manipulators and other types of in...
SCOPE
1.1 Purpose:
1.1.1 The purpose of this test method is to evaluate an A-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 A-UGV movement between structures that define the vehicle path. 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. In this test method, apparatuses, 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 both from a start point to an end point. Further mobility requirements may include: sustained speeds, vehicle reconfiguration to pass through defined spaces, payload, A-UGV movement within constrained volumes, 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 Performing Location—This test method shall be performed in a location where the apparatus and environmental test conditions can be fully implemented. Envi...
General Information
Standards Content (Sample)
NOTICE: This standard has either been superseded and replaced by a new version or withdrawn.
Contact ASTM International (www.astm.org) for the latest information
Designation:F3244 −17
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 test conditions can be fully implemented. Environmental con-
ditions are specified and recorded.
1.1 Purpose:
1.1.7 Additional test methods within Committee F45 are
1.1.1 The purpose of this test method is to evaluate an
anticipated to be developed to address additional or advanced
A-unmanned ground vehicle’s (A-UGV) capability of travers-
mobility capability requirements.
ing through a defined space with limited A-UGV clearance.
1.2 Units—The values stated in SI units are to be regarded
This test method is intended for use byA-UGVmanufacturers,
as the standard.The values given in parentheses are not precise
installers, and users. This test method defines a set of generic
mathematical conversions to inch-pound units. They are close
2D area shapes representative of user applications and for
approximate equivalents for the purpose of specifying material
different A-UGV types.
dimensions or quantities that are readily available to avoid
1.1.2 A-UGVs shall possess a certain set of navigation
excessive fabrication costs of test apparatuses while maintain-
capabilities appropriate to A-UGV operations such as A-UGV
ing repeatability and reproducibility of the test method results.
movement between structures that define the vehicle path. A
These values given in parentheses are provided for information
navigation system is the monitoring and controlling functions
only and are not considered standard.
of the A-UGV, providing frequent A-UGV updates of vehicle
movement from one place to another. A-UGV environments 1.3 This standard does not purport to address all of the
often include various constraints to A-UGV mobility. In this
safety concerns, if any, associated with its use. Safety standards
test method, apparatuses, procedures, tasks, and metrics are such as ANSI/ITSDF B56.5, BS EN 1525, or other safety
specified that apply constraints and thereby, standard test
standards should be followed. It is the responsibility of the user
methods for determining an A-UGV’s navigation capabilities of this standard to establish appropriate safety, health, and
are defined.
environmental practices and determine the applicability of
1.1.3 This test method is scalable to provide a range of regulatory limitations prior to use.
dimensions to constrain the A-UGV mobility during task 1.4 This international standard was developed in accor-
performance. dance with internationally recognized principles on standard-
ization established in the Decision on Principles for the
1.1.4 A-UGVs shall be able to handle many types of open
Development of International Standards, Guides and Recom-
and defined area complexities with appropriate precision and
mendations issued by the World Trade Organization Technical
accuracy to perform a particular task.
Barriers to Trade (TBT) Committee.
1.1.5 The required mobility capabilities include prepro-
grammed or autonomous movement or both from a start point
2. Referenced Documents
to an end point. Further mobility requirements may include:
2
2.1 ASTM Standards:
sustained speeds, vehicle reconfiguration to pass through
F3200 Terminology for DriverlessAutomatic Guided Indus-
defined spaces, payload,A-UGVmovement within constrained
trial Vehicles
volumes, or other vehicle capabilities, or combinations thereof.
F3218 Practice for Recording Environmental Effects for
This test method is designed such that a candidateA-UGV can
Utilization with A-UGV Test Methods
be evaluated as to whether or not it meets a set of user
3
2.2 ANSI/ITSDF Standard:
application requirements.
ANSI/ITSDF B56.5 Safety Standard for Driverless, Auto-
1.1.6 Performing Location—This test method shall be per-
matic Guided Industrial Vehicles and Automated Func-
formed in a location where the apparatus and environmental
tions of Manned Industrial Vehicles
2
For referenced ASTM standards, visit the ASTM website, www.astm.org, or
1
This test method is under the jurisdiction of ASTM Committee F45 on contact ASTM Customer Service at service@astm.org. For Annual Book of ASTM
Driverless Automatic Guided Industrial Vehicles and is the direct responsibility of Standards volume information, refer to the standard’s Document Summary page on
Subcommittee F45.02 on Docking and Navigation. the ASTM website.
3
Current edition approved July 1, 2017. Published October 2017. DOI: 10.1520/ Available from Industrial Truck Standards Development Foundation (ITSDF),
F3244-17. 1750
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