Name: ASTM F3244-17 - Standard Test Method for Navigation: Defined Area
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Abstract

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

Status

Historical

Publication Date

30-Jun-2017

ICS

35.240.60 - IT applications in transport

43.020 - Road vehicles in general

Technical Committee

F45 - Robotics, Automation, and Autonomous Systems

Drafting Committee

F45.02 - A-UGV Docking and Navigation

Current Stage

Ref Project

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ASTM F3244-17 - Standard Test Method for Navigation: Defined Area

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ASTM F3244-17 - Standard Test ...

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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ASTM F3588-22(Guide)

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...

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ASTM F3244-21(Test Method)

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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Standard Guide for A-UGV Capabilities

SIGNIFICANCE AND USE
5.1 This guide is intended to be used by manufacturers and users of A-UGVs: (1) to fully define capabilities of their A-UGV(s) or (2) to allow the standard requestor to describe the A-UGV capabilities required for the requested A-UGV to align with assigned task(s). A-UGVs that are covered within ASTM Committee F45 are industrial vehicles that, for example, can be automatic guided vehicles through mobile robots, can be pre-programmed-through-autonomously controlled, can operate indoors or outdoors in infinitely diverse environmental conditions and therefore, with infinitely diverse functionality. To fully describe and measure the usefulness of these vehicles, functionality can be divided into categories where associated capabilities can be independently measured. This guide therefore provides a decomposition of many, perhaps not all, categories and capabilities that are typical of current A-UGVs globally marketed.
5.2 Capability Categories:
5.2.1 Goal Navigation: Pre-Programmed—Capabilities are the various abilities of the A-UGV to navigate a series of externally-defined waypoints on the way to a final goal.
5.2.2 Goal Navigation: In situ—Capabilities are the various abilities of the A-UGV to navigate to a final goal by using the A-UGV system’s internal logic to determine the route.
5.2.3 Localization—Capabilities are the various abilities of the A-UGV to determine its pose within an environment map.
5.2.4 Docking—Capabilities are the various abilities of the A-UGV to stop at a position relative to another object or an absolute position in an environment.
5.2.4.1 Infrastructure Dependence—Sub-category describing the need of the A-UGV to rely on features in the environment for Goal Navigation: Pre-Programmed, Goal Navigation: In-Situ, Localization, or Docking.
5.2.5 Obstacle Avoidance: Single Vehicle—Capabilities are the various abilities of the A-UGV not to collide with an obstacle(s).
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SCOPE
1.1 This guide categorizes the autonomous capabilities of an automatic through autonomous-unmanned ground vehicle (A-UGV) based on the following list of capability categories:
(a) Goal Navigation: Pre-Programmed;
(b) Goal Navigation: In situ;
(c) Localization;
(d) Docking—Infrastructure Dependence;
(e) Obstacle Avoidance—Types of objects that can be avoided and are within the A-UGV envelope, and types of objects that can be avoided and are outside of the A-UGV envelope;
(f) Changing Contour Area or Envelope;
(g) Changing Payload;
(h) Impaired Communication Behavior;
(i) Lost Communication Behavior;
(j) Environmental Conditions;
(k) Fleet Makeup—Fleet Task Assignment, Information Sharing/Updating, Fleet Navigation Coordination, and Fleet Task Coordination.
1.2 This guide provides a basis for A-UGV manufacturers and users to compare the intended task to the A-UGV capability. This guide does not purport to cover all relevant capabilities or categories that an A-UGV can perform. Instead, this guide provides a method for defining A-UGV capabilities and limits of A-UGV capabilities within specified categories listed in 1.1.
1.3 One or more capabilities may be used to define the A-UGV capability and not all categories are required to be used for defining the capability of an A-UGV.
1.4 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 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.
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Standard Practice for Describing Stationary Obstacles Utilized within A-UGV Test Methods

SIGNIFICANCE AND USE
4.1 This section lists and explains the characteristics that are used to describe a stationary obstacle.
4.2 It is essential that sufficient information about the obstacle is recorded using this practice so that the obstacle can be replicated. This will allow comparisons to be made between test method performances that use obstacles with similar characteristics.
4.3 Class:
4.3.1 When describing an obstacle to be utilized in ASTM Committee F45 test methods, two classes are defined:
4.3.1.1 Genuine—The obstacle being described is an existing real world object (for example, a chair, table, machinery, or equipment). Any identifying information, such as make, model, SKU, etc., should be recorded.
4.3.1.2 Artifact—The obstacle being described has been constructed according to the characteristics outlined in this section. Obstacles of this class are intended to be replicable.
4.4 Parts of the Obstacle:
4.4.1 Each characteristic can be used to describe a property of the entire obstacle or a part of the obstacle. All parts of the obstacle must be uniquely named and identified in the test report described in Section 6.
4.5 Shape:
4.5.1 The shape refers to the relationships between the external, physical boundaries of the obstacle. All shapes can be in contact with the ground or elevated above the ground (see Fig. 1, Fig. 2, and Fig. 3). The unique obstacle shapes are:
4.5.1.1 Bar (for example, column)
4.5.1.2 Panel (for example, sign, pallet, shelf)
4.5.1.3 Cuboid
4.5.1.4 Sphere
4.5.1.5 Cone
4.5.1.6 Other—Obstacle shapes that do not fall into one of the above categories (for example, a pile of fabric). An obstacle can use a single shape to describe its overall volume or multiple shapes to describe parts of the obstacle. For example, the shape of a desk could be described as an elevated horizontal panel with two vertical panels spanning from the ground to the horizontal panel or the shape of a table could be described as an elevated hori...
SCOPE
1.1 This practice specifies physical characteristics that can be used to describe obstacles utilized within ASTM Committee F45 test methods. The obstacle characteristics specified in this practice are not described with respect to the manner in which they will be sensed or detected by an A-UGV. Rather, the obstacles are described according to their real world characteristics. For example, the real world characteristics of a wooden box that is flat black on one side can be described according to its actual dimensions, material, and color. An A-UGV with a lidar sensor may have difficulty detecting the side of the box that is flat black, which could make the obstacle appear smaller to the A-UGV compared to its actual dimensions in the real world. However, this may not be the case for other A-UGVs due to the wide variety of sensors used to detect obstacles, so the actual, real world characteristics are used to describe it instead.
1.2 Real world, existing objects can be used as obstacles and described using this practice. The characteristics specified herein can also be used to construct test artifacts to use as representative obstacles that are intended to have similar characteristics to that of real world obstacles. The obstacles that can be described using this practice may be found in indoor and outdoor environments.
1.3 This practice does not purport to cover all relevant obstacle characteristics that may have an effect on A-UGV performance. The characteristics specified in this practice are limited to the physical properties which are considered to be the most salient in terms of the effects they can have on A-UGV performance. As such, the user of this standard may select the level of detail to use in order to describe the characteristics of an obstacle in such a way. The characteristics are also limited to those which are more easily measurable and replicable when comparing test method results that use similar o...

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Standard Practice for Documenting Environmental Conditions for Utilization with A-UGV Test Methods

SIGNIFICANCE AND USE
4.1 This section provides a description of the environmental conditions listed in Section 1 and describes the sub-conditions within each condition. Examples provided for many of the conditions and sub-conditions are provided as guidance only. Each of the conditions described should be evaluated and documented as set forth in Sections 5, 6, and 7.
4.2 Environmental Consistency: Static, Dynamic, Transitional:
4.2.1 Static is when the environment is similar throughout the test apparatus. For example, there are minor fluctuations in temperature throughout the apparatus as shown in Fig. 1 and Fig. 2. Dynamic is when the environment significantly differs within the test apparatus. For example, when the temperature changes between repetitions as shown in Fig. 3. Transitional is when the environment significantly differs in different areas within the test apparatus as shown in Fig. 4. The intent here is to not give specific guidance, but to provide a high-level classification of a particular set of environmental conditions. If environment consistency is dynamic or transitional, or both, a report form (see Section 7) for each unique set of environmental conditions should be completed.
FIG. 1 Example of Static Environment using Temperature
FIG. 2 Example of Static Environment using Temperature and Showing a Transition between Two Static Environments
FIG. 3 Example of Dynamic Environment using Temperature and Showing that the Environment Changed during the Test
FIG. 4 Example of Transitional Environment using Temperature; Portions of the Environment May Remain Static or May Be Dynamic (for example, Cold to Colder)
4.3 Lighting:
4.3.1 Various lighting conditions can potentially affect A-UGV optical sensor performance by affecting sensor and in turn, A-UGV responsiveness. Lighting sources can include ambient lighting as well as light emitters associated A-UGV operation. Two setups for lighting include direct or ambient source(s) applied to the A-UGV. Direct...
SCOPE
1.1 When conducting test methods, it is important to consider the role that the environmental conditions play in the Automatic through Autonomous – Unmanned Ground Vehicle (A-UGV) performance. Various A-UGVs are designed to be operated both indoors and outdoors under conditions specified by the manufacturer. Likewise, end users of the A-UGV will be operating these vehicles in a variety of environmental conditions. When conducting and replicating F45 test methods by vehicle manufacturers and users, it is important to specify and document the environmental conditions under which the A-UGV is to be tested as there will be variations in vehicle performance caused by the conditions, especially when comparing and replicating sets of test results. It is also important to consider changes in environmental conditions during the course of operations (for example, transitions between conditions). As such, environmental conditions specified in this practice are static, dynamic, or transitional, or combinations thereof; with the A-UGV stationary or in motion. This practice provides brief introduction to the following list of environmental conditions that can affect performance of the A-UGV: Lighting, External sensor emission, Temperature, Humidity, Electrical Interference, Air quality, Ground Surface, and Boundaries. This practice then breaks down each condition into sub-categories so that the user can document the various aspects associated with the category prior to A-UGV tests defined in ASTM F45 Test Methods (for example, F3244). It is recommended that salient environment conditions be documented when conducting F45 test methods.
1.2 The environmental conditions listed in 1.1 to be documented for A-UGV(s) being tested are described and parameterized in Section 4 and allow a basis for performance comparison in test methods. The approach is to divide the list of environmental conditions into sub-conditions that represent the var...