Standard Practice for Recording the A-UGV Test Configuration

Importancia y uso:

5.1 The significance of the information to be recorded in a test report allows for A-UGV performance to be contextualized with A-UGV configuration.

5.2 Limitations of the practice are that not all A-UGVs have the same capabilities or configuration parameters. For example, for capabilities, a vehicle that remaps during navigation versus another vehicle that uses a static map may behave differently in repeated runs of an obstacle avoidance test. For configuration, a vehicle that remaps during navigation may have varying times that obstacles remain in the map for test recreation.

5.3 The environment map used by the A-UGV, developed through localization including any landmarks, shall be saved as used on the A-UGV and should be saved and provided as a human-readable layout on or off the A-UGV (see Appendix X1 showing a sample layout drawing).

5.4 The main A-UGV hardware parameters shall be recorded as follows:

5.4.1 Make and model;

5.4.2 Part number;

5.4.3 Serial number;

5.4.4 Hardware revision number (if any);

5.4.5 Number of drive/steer wheels;

5.4.6 Steering type;

5.4.7 A-UGV Type—For example, fork, tugger, unit load, cart; and

5.4.8 Loaded/unloaded.

5.5 The main A-UGV software parameters shall be recorded as follows:

5.5.1 All applicable software and firmware versions;

5.5.2 Velocity—Translation and rotation, minimum/maximum;

5.5.3 Acceleration—Translation and rotation, minimum/maximum; and

5.5.4 Stand-off Distances—Safety sensor thresholds, obstacle avoidance thresholds.

5.6 The context for the test shall be recorded by providing detailed answers to the following questions:

5.6.1 When are the various software configurations used during the test? For example, two software versions may be required as follows: Use configuration A for straight aisles and configuration B for turns.

5.6.2 What other hardware and software parameters/settings are required to recreate the A-UGV behavior (that is, attached debug, settings, or other files)?

5.6.3 What is the A-UGV layout that is saved and used on the vehicle and, if possible, saved and provided as a human-readable version?

5.6.4 Are there constraints that the requestor has placed on the A-UGV? Examples may include the following:

5.6.4.1 Generic Test Environment—For example, outdoors or indoors, day or night, defined or undefined test areas?

5.6.4.2 Velocity and acceleration that are below the maximum capability?

5.6.4.3 Clearances between the A-UGV and an obstacle during obstacle avoidance maneuvering?

5.6.4.4 Negative obstacle measurement capability enabled?

5.6.4.5 Choose its own path or is required to use a preferred path?

5.7 Higher-level categories of A-UGV capabilities shall be recorded as follows:

5.7.1 Localization Method—For example, natural features, reflective markers, tape on ground, matrix barcodes/visual fiducial system, lights in ceiling.

5.7.2 Safety-rated Equipment—For example, scanning lasers and their make and model numbers; other functions of safety sensors.

5.7.3 Other Sensors Used—For example, cameras, including their make and model numbers, and image processing software used for path planning.

5.7.4 Added Equipment for A-UGV Testing—For example, cameras, including their make and model numbers, and image processing software used for capturing docking performance.

Subcomité:

F45.91

Referida por:

F3243-21, F3499-21, F3499-21, F3244-21, F3243-21, F3244-21, F3470-20

Volúmen:

15.13

Número ICS:

43.020 (Road vehicles in general), 43.040.15 (Car informatics. On board computer systems)

Palabras clave:

A-UGV; automatic guided vehicle (AGV); driverless automatic guided industrial vehicles; industrial; mobile robot; mobility;