ISO 18646-2:2024
(Main)Robotics — Performance criteria and related test methods for service robots — Part 2: Navigation
Robotics — Performance criteria and related test methods for service robots — Part 2: Navigation
This document describes methods of specifying and evaluating the navigation performance of mobile service robots. Navigation performance in this document is measured by pose accuracy and repeatability, ability to detect and avoid obstacles, path deviation, narrow passage, and mapping accuracy. Other measures of navigation performance are available but are not covered in this document. The criteria and related test methods are applicable only to mobile platforms that are in contact with the travel surface. For evaluating the characteristics of manipulators, ISO 9283 applies. This document deals with indoor environments only. However, the depicted tests can also be applicable for robots operating in outdoor environments, as described in Annex A. This document is not applicable for the verification or validation of safety requirements. It does not deal with safety requirements for test personnel during testing.
Robotique — Critères de performance et méthodes d'essai correspondantes pour robots de service — Partie 2: Navigation
General Information
Relations
Standards Content (Sample)
International
Standard
ISO 18646-2
Second edition
Robotics — Performance criteria
2024-01
and related test methods for service
robots —
Part 2:
Navigation
Robotique — Critères de performance et méthodes d'essai
correspondantes pour robots de service —
Partie 2: Navigation
Reference number
© ISO 2024
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting on
the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address below
or ISO’s member body in the country of the requester.
ISO copyright office
CP 401 • Ch. de Blandonnet 8
CH-1214 Vernier, Geneva
Phone: +41 22 749 01 11
Email: copyright@iso.org
Website: www.iso.org
Published in Switzerland
ii
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Test conditions . 4
4.1 General .4
4.2 Environmental conditions . .5
4.3 Travel surface conditions .5
4.4 Operating conditions .5
4.5 Test paths .5
5 Pose characteristics . 7
5.1 Purpose .7
5.2 Relevant characteristics .7
5.2.1 Pose accuracy .7
5.2.2 Pose repeatability .9
5.3 Test facility .10
5.4 Test procedure .10
5.5 Test result.11
6 Obstacle detection .11
6.1 Purpose .11
6.2 Test facility .11
6.3 Test procedure . 13
6.4 Test result. 13
7 Obstacle avoidance . 14
7.1 Purpose .14
7.2 Test facility .14
7.3 Test procedure . 15
7.4 Test result.16
8 Path deviation . 16
8.1 Purpose .16
8.2 Test facility .16
8.3 Test procedure .17
8.4 Test result.17
9 Narrow passage .18
9.1 Purpose .18
9.2 Test facility .18
9.3 Test procedure .18
9.4 Test result.19
10 Mapping accuracy . 19
10.1 Purpose .19
10.2 Test facility .19
10.3 Test procedure .21
10.4 Test result.21
Annex A (informative) Outdoor navigation .22
Bibliography .24
iii
Foreword
ISO (the International Organization for Standardization) is a worldwide federation of national standards
bodies (ISO member bodies). The work of preparing International Standards is normally carried out through
ISO technical committees. Each member body interested in a subject for which a technical committee
has been established has the right to be represented on that committee. International organizations,
governmental and non-governmental, in liaison with ISO, also take part in the work. ISO collaborates closely
with the International Electrotechnical Commission (IEC) on all matters of electrotechnical standardization.
The procedures used to develop this document and those intended for its further maintenance are described
in the ISO/IEC Directives, Part 1. In particular, the different approval criteria needed for the different types
of ISO document should be noted. This document was drafted in accordance with the editorial rules of the
ISO/IEC Directives, Part 2 (see www.iso.org/directives).
ISO draws attention to the possibility that the implementation of this document may involve the use of (a)
patent(s). ISO takes no position concerning the evidence, validity or applicability of any claimed patent
rights in respect thereof. As of the date of publication of this document, ISO had not received notice of (a)
patent(s) which may be required to implement this document. However, implementers are cautioned that
this may not represent the latest information, which may be obtained from the patent database available at
www.iso.org/patents. ISO shall not be held responsible for identifying any or all such patent rights.
Any trade name used in this document is information given for the convenience of users and does not
constitute an endorsement.
For an explanation of the voluntary nature of standards, the meaning of ISO specific terms and expressions
related to conformity assessment, as well as information about ISO's adherence to the World Trade
Organization (WTO) principles in the Technical Barriers to Trade (TBT), see www.iso.org/iso/foreword.html.
This document was prepared by Technical Committee ISO/TC 299, Robotics.
This second edition cancels and replaces the first edition (ISO 18646-2:2019), which has been technically
revised.
The main changes are as follows:
— Clauses 8 to 10 have been added for path deviation, narrow passage and mapping accuracy.
A list of all parts in the ISO 18646 series can be found on the ISO website.
Any feedback or questions on this document should be directed to the user’s national standards body. A
complete listing of these bodies can be found at www.iso.org/members.html.
iv
Introduction
This document is intended to specify performance criteria and test methods for navigation of mobile service
robots. It defines performance characteristics, describes how they are specified and recommends how to
test them.
The characteristics for which test methods are given in this document are those considered to affect robot
performance significantly. It is intended that the reader of this document selects which performance
characteristics are to be tested, in accordance with the specific requirements.
The performance criteria specified in this document are not intended to be interpreted as the verification or
validation of safety requirements.
v
International Standard ISO 18646-2:2024(en)
Robotics — Performance criteria and related test methods for
service robots —
Part 2:
Navigation
1 Scope
This document describes methods of specifying and evaluating the navigation performance of mobile service
robots. Navigation performance in this document is measured by pose accuracy and repeatability, ability
to detect and avoid obstacles, path deviation, narrow passage, and mapping accuracy. Other measures of
navigation performance are available but are not covered in this document.
The criteria and related test methods are applicable only to mobile platforms that are in contact with the
travel surface. For evaluating the characteristics of manipulators, ISO 9283 applies.
This document deals with indoor environments only. However, the depicted tests can also be applicable for
robots operating in outdoor environments, as described in Annex A.
This document is not applicable for the verification or validation of safety requirements. It does not deal
with safety requirements for test personnel during testing.
2 Normative references
The following documents are referred to in the text in such a way that some or all of their content constitutes
requirements of this document. For dated references, only the edition cited applies. For undated references,
the latest edition of the referenced document (including any amendments) applies.
ISO 7176-13, Wheelchairs — Part 13: Determination of coefficient of friction of test surfaces
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
ISO and IEC maintain terminology databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at https:// www .iso .org/ obp
— IEC Electropedia: available at https:// www .electropedia .org/
3.1
robot
programmed actuated mechanism with a degree of autonomy to perform locomotion, manipulation or
positioning
Note 1 to entry: A robot includes the control system.
Note 2 to entry: Examples of mechanical structure of robots are manipulator, mobile platform (3.3) and wearable
robot.
[SOURCE: ISO 8373:2021, 3.1]
3.2
mobile robot
robot (3.1) able to travel under its own control
Note 1 to entry: A mobile robot can be a mobile platform (3.3) with or without manipulators.
Note 2 to entry: In addition to autonomous operation, a mobile robot can have means to be remotely controlled.
[SOURCE: ISO 8373:2021, 4.15]
3.3
mobile platform
assembly of the components which enables locomotion
Note 1 to entry: A mobile platform can include a chassis which can be used to support a load (3.6).
Note 2 to entry: A mobile platform can provide the structure by which to affix a manipulator.
Note 3 to entry: Mobile platform following a predetermined path (3.14) indicated by markers or external guidance
commands, typically used for logistic tasks in industrial automation is also referred to as Automated Guided Vehicle
(AGV) or Driverless Industrial Truck. Standards for such vehicles are developed by ISO/TC 110.
[SOURCE: ISO 8373:2021, 4.16]
3.4
service robot
robot (3.1) in personal use or professional use that performs useful tasks for humans or equipment
Note 1 to entry: Tasks in personal use include handling or serving of items, transportation, physical support, providing
guidance or information, grooming, cooking and food handling, and cleaning.
Note 2 to entry: Tasks in professional use include inspection, surveillance, handling of items, person transportation,
providing guidance or information, cooking and food handling, and cleaning.
[SOURCE: ISO 8373:2021, 3.7]
3.5
navigation
process which includes path planning, localization (3.17), mapping (3.18), and providing the direction of
travel
Note 1 to entry: Navigation can include path planning for pose-to-pose travel and complete area coverage.
[SOURCE: ISO 8373:2021, 8.6]
3.6
load
force, torque or both at the mechanical interface or mobile platform (3.3) which can be exerted along the
various directions of motion under specified conditions of velocity and acceleration
Note 1 to entry: The load is a function of mass, moment of inertia, and static and dynamic forces supported by the
robot (3.1).
[SOURCE: ISO 8373:2021, 7.2]
3.7
rated load
maximum load (3.6) that can be applied to the mechanical interface or mobile platform (3.3) in normal
operating conditions (3.9) without degradation of any performance specification
Note 1 to entry: The rated load includes the inertial effects of the end effector, accessories and workpiece, where
applicable.
[SOURCE: ISO 8373:2021, 7.2.1]
3.8
rated speed
maximum speed of mobile platform (3.3) equipped with rated load (3.7) in normal operating conditions (3.9)
[SOURCE: ISO 18646-1:2016, 3.11]
3.9
normal operating conditions
range of environmental conditions and other parameters within which the robot (3.1) is expected to perform
as specified by the manufacturer
Note 1 to entry: Environmental conditions include temperature and humidity.
Note 2 to entry: Other parameters include electrical supply instability and electromagnetic fields.
[SOURCE: ISO 8373:2021, 7.1]
3.10
task program
set of instructions for motion and auxiliary functions that define the specific intended task of the robot (3.1)
or robot system
Note 1 to entry: This type of program is generated by the task programmer.
Note 2 to entry: An application is a general area of work; a task is specific within the application.
[SOURCE: ISO 8373:2021, 6.1]
3.11
pose
combination of position and orientation in space
Note 1 to entry: Pose for the manipulator normally refers to the position and orientation of the end effector or the
mechanical interface.
Note 2 to entry: Pose for a mobile robot (3.2) can include the set of poses of the mobile platform (3.3) and of any
manipulator attached to the mobile platform, with respect to the mobile platform coordinate system.
Note 3 to entry: For mobile robots in contact with a flat surface, orientation is typically a scalar angle about the normal
to the flat surface, with respect to a reference direction.
[SOURCE: ISO 8373:2021, 5.5, modified —Note 3 to entry has been added.]
3.12
command pose
programmed pose
pose (3.11) specified by the task program (3.10)
[SOURCE: ISO 8373:2021, 5.5.1]
3.13
attained pose
pose (3.11) achieved by the robot (3.1) in response to the command pose (3.12)
[SOURCE: ISO 8373:2021, 5.5.2]
3.14
path
route that connects an ordered set of poses (3.11)
[SOURCE: ISO 8373:2021, 5.5.4]
3.15
cluster
set of measured points used to calculate the accuracy and the repeatability characteristics
[SOURCE: ISO 9283:1998, 3.1]
3.16
barycentre
point whose coordinates are the mean values of a cluster (3.15) of points
Note 1 to entry: For a cluster of n points defined by their coordinates (x — y — z ), the barycentre of that cluster of
j j j
points is calculated as follows:
n n n
11 1
x==xy,,yz= z
∑∑j j ∑ j
n n n
j==11j j=1
[SOURCE: ISO 9283:1998, 3.2, modified]
3.17
localization
recognizing pose (3.11) of mobile robot (3.2), or identifying it on the environment map
[SOURCE: ISO 8373:2021, 8.2]
3.18
mapping
map building
map generation
constructing the environment map to describe the environment with its geometrical and detectable
features, landmarks and obstacles
[SOURCE: ISO 8373:2021, 8.5]
3.19
test configuration
particular arrangement of test objects
3.20
trial
single instance of test procedure performed under identical test configuration (3.19)
Note 1 to entry: A trial can be repeated multiple times.
4 Test conditions
4.1 General
The robot shall be completely assembled, fully charged and operational, based on the manufacturer
specification. Appropriate precautions should be taken to protect the personnel during the test.
The tests shall be preceded by the preparations for operation as specified by the manufacturer. These
preparations shall be reported in the test report.
All conditions specified in Clause 4 should be satisfied for the tests described in this document, unless it is
stated otherwise in the specific clauses.
The tests described in this document may have multiple test configurations which require separate test
procedures. For each test configuration, multiple trials should be conducted if specified in the test procedure.
4.2 Environmental conditions
The following typical indoor environmental conditions should be maintained during all tests:
— ambient temperature: 10 °C to 30 °C;
— relative humidity: 0 % to 80 %;
— illumination: 100 lux to 1 000 lux.
The environmental conditions shall be declared in the test report. The manufacturer may specify
environmental conditions outside these ranges (see Annex A).
NOTE Even though reflectivity can affect performance, it is not included in these environmental conditions.
4.3 Travel surface conditions
A hard, even and horizontal travel surface with a coefficient of friction between 0,6 and 1,0, measured in
accordance with ISO 7176-13, shall be used.
4.4 Operating conditions
All performance shall be measured under normal operating conditions. When the performance is measured
in other conditions, those conditions shall be declared in the test report.
For all tests, the robot shall be tested at the rated speed and equipped with the rated load, unless otherwise
specified.
For the navigation of mobile platforms, external equipment, such as landmarks, shall be supplied according
to the specifications of the manufacturer. Information on the external equipment, such as locations and
types of landmarks, shall be provided in the test report.
4.5 Test paths
All test paths are parameterized with respect to the sizes of mobile platforms. Length unit, L , is defined as
U
the multiples of 500 mm according to the width, w, the distance across the forward direction, of the mobile
platform, as shown in Figure 1. The width, w, shall take into account not only the mobile platform but also
any protruding part of the mobile robot, for example, arm or shelf. The L value used for the test shall be
U
declared in the test report.
w
L = × 500 mm
U
x is the ceiling function that maps real number x to the least integer greater than or equal to x.
Length unit, L , may be increased from the above value for each test specified in this document if it is
U
determined necessary to accommodate the test. For instance, when the length of mobile robot does not
allow the proper motion in Clause 10, the larger value of L can be used for the test.
U
Figure 1 — Dimensions of mobile platform
Straight path, rectangular path and composite path are used in this document (see Figures 2, 3 and 4). The
value of 5 L is selected to normalize the travel distance of various sizes of robots when we measure the
U
pose characteristics in Clause 5. Alternatively, the travel distance can be specified by the manufacturer
considering specific applications. Straight path moves from the initial pose of P until it reaches the goal
pose of P . Rectangular path moves from the initial pose of P to P , P , P , and finally to the goal pose of P
1 0 1 2 3 0.
Composite path moves from the initial pose of P until it reaches the goal pose of P via P .
0 2 1
Rectangular and composite paths
...
Questions, Comments and Discussion
Ask us and Technical Secretary will try to provide an answer. You can facilitate discussion about the standard in here.
Loading comments...