Standard Test Method for Navigation: Defined Area

Importancia y uso:

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 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 industrial automated mobility equipment, as well as in other domains.

Subcomité:

F45.02

Referida por:

F3588-22, F3243-21, F3499-21, F3200-23, F3218-19, F3499-21, F3381-19, F3243-21, F3381-19, F3470-20, F3218-19

Volúmen:

15.13

Número ICS:

35.240.60 (IT applications in transport), 43.020 (Road vehicles in general)

Palabras clave:

A-UGV; automatic guided vehicle (AGV); defined-space; industrial; mobile robot; mobility; navigation; physical boundary; repetition; virtual boundary;