F45.02 - A-UGV Docking and Navigation

SIGNIFICANCE AND USE
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...
SCOPE
1.1 Purpose:  
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 whe...

SIGNIFICANCE AND USE
7.1 A-UGVs operate in a wide range of applications such as manufacturing facilities and warehouses. The testing results of the candidate A-UGV shall describe, in a statistically significant way, the ability of the A-UGV to position itself at a fixed location or relative to a dock. This test method defines tests for use by manufacturers and users of A-UGVs to measure and record the docking performance. The test applies to different types of A-UGV, applications and test apparatus.  
7.2 Navigation—The test applies to all types of navigation. The capabilities of the A-UGV to apply its navigation method to a given environment will be objectively determined by its performance in the test.  
7.3 Vehicle—The test results of the candidate A-UGV will confirm, in a statistically significant way, how reliably an A-UGV arrives at a dock from one or more start locations. Refer to Test Method F3244 for typical vehicle configurations.  
7.4 Apparatus—The test method is scalable, using similar apparatus to interface to different A-UGVs.  
7.5 Defining a Successful Test—The probability that a repetition will be successful (R) and the confidence (C) in that probability are used to identify how many sequential successful repetitions are required to pass a test. The test requestor shall define these values and record them on the test report (see Appendix X1 Table X1.1).
SCOPE
1.1 This test method defines standard tests that demonstrate and confirm positioning of an A-UGV. Positioning, the repeatability of A-UGV location when stationary after completing maneuvers to a stop location, may be defined globally or locally relative to local infrastructure. The latter has become known as docking. See Terminology F3200-18a for terminology definitions. The test also includes a method to confirm the repeatability of height control of load transfer equipment, for example an A-UGV with fork tines.  
1.2 This test method is intended for use by A-UGV manufacturers, installers, and users to quantitatively confirm the maneuverability and repeatability of an A-UGV’s positioning or docking. Positioning and docking are similar operations and the tests described are applicable to either. The term docking will be used throughout this test method to include both global positioning and local docking. The tests facilitate comparative trials across a set of A-UGVs or multiple trials over a period of time.  
1.3 The tests can be carried out by many vehicles using different methods of location measurement and control to achieve the demanded performance. Vehicle configurations and vehicle components include:  
1.3.1 Vehicle load type (for example, fork lift, roller deck, trailer, flat deck);  
1.3.2 Vehicle drive mechanics (for example, steered tricycle, two-wheel differential, steered omni-directional or ‘mecanum wheel’ drives);  
1.3.3 Navigation sensors (for example, scanning laser, local beacons, floor marking, environmental features);  
1.3.4 Docking sensors (sensors, for example, camera, line detector, and laser scanner, which are used primarily for local measurement at the dock).  
1.4 The A-UGV may include roller tables, fork tines, robot arm(s) or other mechanisms to transfer the load or interact with the dock (for example, perform assembly). The standard test can be applied to A-UGVs with any of these load transfer mechanisms. The repeatability along each measured axis is measured and compared to a defined repeatability margin. The set of repeatability margins comprises the complete task performance margin (TPM).  
1.5 This test method shall be performed in a testing laboratory or the location where the specified apparatus and environmental conditions are implemented. Environmental conditions shall be recorded as specified in Practice F3218-17.  
1.6 Standard test apparatus is specified to be easily fabricated, facilitating self-evaluation by A-UGV developers and users, and providing practice for A-UGV developers, u...

SIGNIFICANCE AND USE
5.1 A-UGVs operate in a wide range of applications such as manufacturing facilities and warehouses. Fig. 8 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 traverse the commanded path. 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 can be rendered are specified for use: physical boundaries, virtual boundaries, and floor markings (see Section 6 for apparatus specifics). The test method(s) 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 in...
SCOPE
1.1 Purpose:  
1.1.1 The purpose of this test method is to evaluate an A-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 such as A-UGV movement between structures that define the vehicle path. 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. In this test method, apparatuses, 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 preprogrammed or autonomous movement or both from a start point to an end point. Further mobility requirements may include: sustained speeds, vehicle reconfiguration to pass through defined spaces, payload, A-UGV movement within constrained volumes, or other vehicle capabilities, or combinations thereof. This test method is designed such that a candidate A-UGV can be evaluated as to whether or not it meets a set of user application requirements.  
1.1.6 Performing Location—This test method shall be performed in a location where the apparatus and environmental test conditions can be fully implemented. Envi...