ISO 18646-2:2019

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, as well as the ability to detect and avoid obstacles. 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

• Status: Withdrawn
• Publication Date: 10-Apr-2019
• ICS: 25.040.30 - Industrial robots. Manipulators
• Technical Committee: ISO/TC 299 - Robotics
• Drafting Committee: ISO/TC 299/WG 4 - Service robot performance
• Current Stage: 9599 - Withdrawal of International Standard
• Start Date: 22-Jan-2024
• Completion Date: 13-Dec-2025

Relations

• Revised: ISO 18646-2:2024 - Robotics - Performance criteria and related test methods for service robots - Part 2: Navigation
• Effective Date: 06-Jun-2022

Standards Content (Sample)

INTERNATIONAL ISO
STANDARD 18646-2
First edition
2019-04
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
Reference number
©
ISO 2019
© ISO 2019
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
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ii © ISO 2019 – All rights reserved

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 . 4
4.3 Travel surface conditions . 4
4.4 Operating conditions . 5
4.5 Test paths . 5
5 Pose characteristics . 6
5.1 Purpose . 6
5.2 Relevant characteristics . 6
5.2.1 Pose accuracy . 6
5.2.2 Pose repeatability . 8
5.3 Test facility . 9
5.4 Test procedure . 9
5.5 Test result . 9
6 Obstacle detection .10
6.1 Purpose .10
6.2 Test facility .10
6.3 Test procedure .11
6.4 Test result .11
7 Obstacle avoidance .12
7.1 Purpose .12
7.2 Test facility .12
7.3 Test procedure .13
7.4 Test result .14
Annex A (informative) Outdoor navigation .15
Bibliography .17
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
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electrotechnical standardization.
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described in the ISO/IEC Directives, Part 1. In particular, the different approval criteria needed for the
different types of ISO documents should be noted. This document was drafted in accordance with the
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.org/iso/foreword .html.
This document was prepared by Technical Committee ISO/TC 299, Robotics.
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
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iv © ISO 2019 – All rights reserved

Introduction
This document is intended to specify performance criteria and test method 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.
INTERNATIONAL STANDARD ISO 18646-2:2019(E)
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, as well as the ability to detect and avoid obstacles. 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
ISO 8373:2012, Robots and robotic devices — Vocabulary
3 Terms and definitions
For the purposes of this document, the terms and definitions given in ISO 8373 and the following apply.
ISO and IEC maintain terminological databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at https: //www .iso .org/obp
— IEC Electropedia: available at http: //www .electropedia .org/
3.1
robot
programmed actuated mechanism with a degree of autonomy, moving within its environment, to
perform intended tasks
Note 1 to entry: A robot includes the control system and interface of the control system.
Note 2 to entry: The classification of robot into industrial robot or service robot (3.4) is done according to its
intended application.
[SOURCE: ISO 8373:2012, 2.6, modified — The words “actuated mechanism programmable in two or
more axes” have been replaced with “programmed actuated mechanism”.]
3.2
mobile robot
robot (3.1) able to travel under its own control
Note 1 to entry: to entry: A mobile robot can be a mobile platform (3.3) with or without manipulators.
[SOURCE: ISO 8373:2012, 2.13]
3.3
mobile platform
assembly of all components of the mobile robot (3.2) 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: Because of possible confusion with the term “base”, it is advisable not to use the term “mobile
base” to describe a mobile platform.
[SOURCE: ISO 8373:2012, 3.18]
3.4
service robot
robot (3.1) that performs useful tasks for humans or equipment excluding industrial automation
applications
Note 1 to entry: Industrial automation applications include, but are not limited to, manufacturing, inspection,
packaging, and assembly.
Note 2 to entry: While articulated robots used in production lines are industrial robots, similar articulated
robots used for serving food are service robots.
[SOURCE: ISO 8373:2012, 2.10]
3.5
navigation
deciding on and controlling the direction of travel, derived from localization and the environment map
Note 1 to entry: Navigation can include path (3.14) planning for pose-to-pose travel and complete area coverage.
[SOURCE: ISO 8373:2012, 7.6]
3.6
load
force and/or torque 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 8373:2012, 6.2.1]
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 8373:2012, 6.2.2]
2 © ISO 2019 – All rights reserved

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 which can influence robot performance (such
as electrical supply instability, electromagnetic fields) within which the performance of the robot (3.1)
specified by the manufacturer is valid
Note 1 to entry: Environmental conditions include, for example, temperature and humidity.
[SOURCE: ISO 8373:2012, 6.1]
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 usually generated after the installation of the robot and can be modified
by a trained person under defined conditions.
Note 2 to entry: An application is a general area of work; a task is specific within the application.
[SOURCE: ISO 8373:2012, 5.1.1]
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 world 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 8373:2012, 4.5, 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 8373:2012, 4.5.1]
3.13
attained pose
pose (3.11) achieved by the robot (3.1) in response to the command pose (3.12)
[SOURCE: ISO 8373:2012, 4.5.2]
3.14
path
ordered set of poses (3.11)
[SOURCE: ISO 8373:2012, 4.5.4]
3.15
cluster
set of measured points used to calculate the accuracy and the repeatability characteristics
[SOURCE: ISO 9283:1998, 3.1, modified]
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
j j j
of 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]
4 Test conditions
4.1 General
The robot shall be completely assembled, fully charged and operational, based on the manufacturer
specification. All self-diagnostic tests shall be satisfactorily completed. 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.
Each test described in each clause of this document can have different 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 no
...