ASTM F3244-21 - Standard Test Method for Navigation: Defined Area

1.1.1 The purpose of this test method is to evaluate an automatic, automated, or autonomous-unmanned ground vehicle’s (A-UGV) capability of traversing through a defined space with limited A-UGV clearance. This test method is intended for use by A-UGV manufacturers, installers, and users. This test method defines a set of generic 2D area shapes representative of user applications and for different A-UGV types.

1.1.2 A-UGVs shall possess a certain set of navigation capabilities appropriate to A-UGV operations. Two examples of such capabilities include A-UGV movement between structures that define the vehicle path or obstacle avoidance. A navigation system is the monitoring and controlling functions of the A-UGV, providing frequent A-UGV updates of vehicle movement from one place to another. A-UGV environments often include various constraints to A-UGV mobility, such as boundaries and obstacles. In this test method, apparatuses, impairments, procedures, tasks, and metrics are specified that apply constraints and thereby, standard test methods for determining an A-UGV’s navigation capabilities are defined.

1.1.3 This test method is scalable to provide a range of dimensions to constrain the A-UGV mobility during task performance.

1.1.4 A-UGVs shall be able to handle many types of open and defined area complexities with appropriate precision and accuracy to perform a particular task.

1.1.5 The required mobility capabilities include either preprogrammed movement, autonomous movement, or a combination of both, from a start location to an end location. Further mobility requirements may include: sustained speeds, vehicle reconfiguration to pass through defined spaces, payload, A-UGV movement within constrained volumes, A-UGV avoidance of obstacles while navigating, or other vehicle capabilities, or combinations thereof. This test method is designed such that a candidate A-UGV can be evaluated as to whether it meets a set of user application requirements.

1.1.6 This test method is used to evaluate the capabilities of a single A-UGV operating with commands and data provided to it by an operator (for example, locations of goal points, map of the environment), as well as those derived from its own sensors (for example, locations of obstacles in the environment), as opposed to information provided to it from another A-UGV or fleet controller. There may be future standards that address the capabilities of multiple A-UGVs – or fleets – that work together.

1.1.7 This test method does not consider the act of acquiring or removing payloads, such as picking up/dropping off a pallet or connecting to/disconnecting from a trailer, during navigation. The A-UGV may have a payload as part of its configuration (see Practice F3327) that will be unchanged during the test. A future standard may address these types of capabilities during navigation.

1.1.8 Performing Location—This test method shall be performed in a location where the apparatus and environmental test conditions can be fully implemented. Environmental conditions are specified and recorded (see Practice F3218).

1.1.9 Additional test methods within Committee F45 are anticipated to be developed to address additional or advanced mobility capability requirements, such as a fleet of A-UGVs coordinating their movement through a facility.