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
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FINAL
INTERNATIONAL ISO/FDIS
DRAFT
STANDARD 18646-2
ISO/TC 299
Robotics — Performance criteria
Secretariat: SIS
and related test methods for service
Voting begins on:
2023-10-27 robots —
Voting terminates on:
Part 2:
2023-12-22
Navigation
Robotique — Critères de performance et méthodes d'essai
correspondantes pour robots de service —
Partie 2: Navigation
RECIPIENTS OF THIS DRAFT ARE INVITED TO
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OF ANY RELEVANT PATENT RIGHTS OF WHICH
THEY ARE AWARE AND TO PROVIDE SUPPOR TING
DOCUMENTATION.
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Reference number
BEING ACCEPTABLE FOR INDUSTRIAL, TECHNO-
ISO/FDIS 18646-2:2023(E)
LOGICAL, COMMERCIAL AND USER PURPOSES,
DRAFT INTERNATIONAL STANDARDS MAY ON
OCCASION HAVE TO BE CONSIDERED IN THE
LIGHT OF THEIR POTENTIAL TO BECOME STAN-
DARDS TO WHICH REFERENCE MAY BE MADE IN
NATIONAL REGULATIONS. © ISO 2023
---------------------- Page: 1 ----------------------
ISO/FDIS 18646-2:2023(E)
FINAL
INTERNATIONAL ISO/FDIS
DRAFT
STANDARD 18646-2
ISO/TC 299
Robotics — Performance criteria
Secretariat: SIS
and related test methods for service
Voting begins on:
robots —
Voting terminates on:
Part 2:
Navigation
Robotique — Critères de performance et méthodes d'essai
correspondantes pour robots de service —
Partie 2: Navigation
COPYRIGHT PROTECTED DOCUMENT
© ISO 2023
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.
RECIPIENTS OF THIS DRAFT ARE INVITED TO
ISO copyright office
SUBMIT, WITH THEIR COMMENTS, NOTIFICATION
OF ANY RELEVANT PATENT RIGHTS OF WHICH
CP 401 • Ch. de Blandonnet 8
THEY ARE AWARE AND TO PROVIDE SUPPOR TING
CH-1214 Vernier, Geneva
DOCUMENTATION.
Phone: +41 22 749 01 11
IN ADDITION TO THEIR EVALUATION AS
Reference number
Email: copyright@iso.org
BEING ACCEPTABLE FOR INDUSTRIAL, TECHNO-
ISO/FDIS 18646-2:2023(E)
Website: www.iso.org
LOGICAL, COMMERCIAL AND USER PURPOSES,
DRAFT INTERNATIONAL STANDARDS MAY ON
Published in Switzerland
OCCASION HAVE TO BE CONSIDERED IN THE
LIGHT OF THEIR POTENTIAL TO BECOME STAN-
DARDS TO WHICH REFERENCE MAY BE MADE IN
ii
© ISO 2023 – All rights reserved
NATIONAL REGULATIONS. © ISO 2023
---------------------- Page: 2 ----------------------
ISO/FDIS 18646-2:2023(E)
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 .
...
ISO/FDIS 18646-2:2023(E)
ISO/TC 299
Secretariat: SIS
Date: 2023-08-1710-12
Robotics — Performance criteria 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
FDIS stage
---------------------- Page: 1 ----------------------
ISO/FDIS 18646-2:2023(E)
© ISO 20222023
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
Fax: +41 22 749 09 47
EmailE-mail: copyright@iso.org
Website: www.iso.orgwww.iso.org
Published in Switzerland
ii © ISO 2022 – All rights reserved
ii © ISO 2023 – All rights reserved
---------------------- Page: 2 ----------------------
ISO/FDIS 18646-2:2023(E)
Contents
Foreword . v
Introduction . vi
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Test conditions . 5
4.1 General . 5
4.2 Environmental conditions . 5
4.3 Travel surface conditions . 5
4.4 Operating conditions . 5
4.5 Test paths . 6
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 . 11
5.4 Test procedure . 11
5.5 Test result . 12
6 Obstacle detection . 12
6.1 Purpose .
...
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