ASTM F3470-20

5.2.1 Goal Navigation: Pre-Programmed—Capabilities are the various abilities of the A-UGV to navigate a series of externally-defined waypoints on the way to a final goal.

5.2.2 Goal Navigation: In situ—Capabilities are the various abilities of the A-UGV to navigate to a final goal by using the A-UGV system’s internal logic to determine the route.

5.2.3 Localization—Capabilities are the various abilities of the A-UGV to determine its pose within an environment map.

5.2.4 Docking—Capabilities are the various abilities of the A-UGV to stop at a position relative to another object or an absolute position in an environment.

5.2.5 Obstacle Avoidance: Single Vehicle—Capabilities are the various abilities of the A-UGV not to collide with an obstacle(s).

5.2.6 Changing Contour Area or Envelope—the A-UGV can change contour area or envelope using stock settings or while operating and stopped or moving.

5.2.7 Changing Payload—The A-UGV can transport fixed or moving payload(s) at 100 % rated weight and speed.

5.2.8 Impaired Communication Behavior—A-UGV action(s) when communication is disrupted.

5.2.9 Lost Communication Behavior—A-UGV action(s) when communication stops.

5.2.10 Environmental Conditions—Capabilities are the various abilities of the A-UGV to overcome environmental conditions. Section 5.4 provides example standards referencing ingress protection (IP) rating and examples referenced within Practice F3218-18 that affect mobility where other environmental conditions may also affect A-UGV capabilities (for example, electrical interference, humidity, etc.).

5.3.1 Fleets of A-UGVs are defined in Terminology F3200 as a coordinated collection of vehicles. The following sections related to fleets provide descriptions of the capability categories that a single A-UGV has as one of the vehicles within a fleet.

5.3.2 Fleet Makeup—The A-UGV type as compared to the fleet: homogeneous (the same type and configuration as vehicles within the fleet), or heterogeneous (different type or configuration as vehicles within the fleet).

5.4.1 Can navigate a preprogrammed path to the goal (Test Method F3244).

5.4.2 If encounters obstacle, can leave the preprogrammed path and return to the preprogrammed path to the goal (Test Method F3244, Practice F3381).

5.4.3 If blocked, can navigate an alternate preprogrammed path to the goal, for example, navigate a different hallway/aisle.

5.4.4 If blocked, can navigate multiple alternate preprogrammed paths to the goal, for example, navigate a third hallway/aisle if the second is blocked.

5.5.1 Can determine and navigate an initial path to the goal (Test Method F3244).

5.5.2 If blocked, can determine and navigate an alternate path to the goal, for example, navigate a different hallway/aisle.

5.5.3 If blocked, can determine and navigate multiple alternate paths to the goal, for example, navigate a third hallway/aisle if the second is blocked.

5.6.1 A-UGV can find its initial pose automatically.

5.6.2 Given an initial pose, A-UGV does not get lost in a static environment, for example, office building (Test Method F3244, Practice F3381).

5.6.3 Given an initial pose, A-UGV does not get lost in a dynamic environment, for example, warehouse with pallets being moved (Test Method F3244).

5.6.4 Given that the A-UGV is correctly localized, it becomes forcibly unlocalized, then it stops and requires human intervention to restart. The A-UGV becomes forcibly unlocalized when, for example, it gets picked up and moved to another location (kidnapped) or is intentionally told it is in the wrong location through software (both a greatly off position and an aliased position such as one aisle off).

5.6.5 A-UGV can automatically determine its pose after being forcibly unlocalized.

5.6.6 A-UGV can update its environment map based on detected changes in the environment, for example, continuous SLAM.

5.7.1 Can position at preprogrammed waypoints, for example, absolute coordinates.

5.7.2 Can dock with a static object, for example, conveyer.

5.7.3 Can dock with a moveable, but stationary, object, for example, another vehicle, pallet, or cart.

5.7.4 Can dock with coordinated movement between the A-UGV and the dock, for example, mid-air fueling.

5.8.1 Can rely on features in the environment that were specifically installed to assist A-UGV operation, for example, magnetic tape, QR codes.

5.8.2 Can rely on natural features, for example, walls, racking.

5.9.1 Can stop when path is obstructed, for example, pallet in the path (Test Method F3244, Practice F3381, Test Method F3265).

5.9.2 Can navigate around static obstacles without collision, for example, navigating around a box partially blocking a hallway (Test Method F3244, Practice F3381, Test Method F3265).

5.9.3 Can navigate around moving obstacles without collision, for example, navigating around a moving vehicle that crosses the A-UGV path (Test Method F3244, Test Method F3265).

5.10.1 On ground, <10 cm obstacle height.

5.10.2 On ground, 10 cm to 20 cm obstacle height. Note that 20 cm is based on a test piece size described in ITSDF B56.5.

5.10.3 On ground, >20 cm obstacle height.

5.10.4 Elevated/suspended ≥20 cm and within the A-UGV envelope, <10 cm obstacle height. Elevated is measured from the bottom of obstacle to the ground.

5.10.5 Elevated/suspended ≥20 cm and within the A-UGV envelope, ≥10 cm obstacle height.

5.11.1 Negative obstacles, ≤1 cm obstacle height, for example, missing tile.

5.11.2 Negative obstacles, >1 to ≤10 cm obstacle height, for example, removable panel on a raised floor.

5.11.3 Negative obstacles, >10 cm obstacle height, for example, loading dock, cliff, manhole.

5.11.4 Elevated/suspended above the A-UGV envelope and within the vertical projection of the A-UGV envelope.

5.11.5 Beside the A-UGV envelope.

5.12.1 Can change contour area from stock settings;

5.12.2 Can change contour area while operating and stopped;

5.12.3 Can change contour area while operating and moving;

5.12.4 Can change envelope from stock settings;

5.12.5 Can change envelope while operating and stopped, and;

5.12.6 Can change envelope while operating and moving.

5.13.1 Can transport fixed payload at 100 % rated weight, speed, and;

5.13.2 Can transport moving payload (for example, robot arms, liquid tanks, shifting loads, unsecured (in bins), trailer loads) at 100 % rated weight, speed.

5.14.1 When communication is impaired, A-UGV stops and when communication resumes, requires human intervention in order to restart normal operation.

5.14.2 When communication is impaired, A-UGV stops and when communication resumes, does not require human intervention in order to restart normal operation.

5.14.3 While communication is impaired, A-UGV has modified operation, for example, drive slower.

5.14.4 While communication is impaired, continues normal operation.

5.15.1 When communication is lost, A-UGV stops and when communication resumes, requires human intervention in order to restart normal operation.

5.15.2 When communication is lost, A-UGV stops and when communication resumes, does not require human intervention in order to restart normal operation.

5.15.3 While communication is lost, A-UGV has modified operation, for example, drive slower.

5.15.4 While communication is lost, continues normal operation.

5.16.1 IP Rating: refer to IP Rating scale, for example, EN 60529 (British BS EN 60529:1992, European IEC 60509:1989).

5.16.2 For each capability, list the environmental condition (Practice F3218) under which the A-UGV can operate (for example, mobility: ground surface with elevation change up/down; gap; grade; deformability; undulation; floor particulates; coefficient of friction; boundaries (for example, cold storage curtains)).

5.17.1 Homogenous A-UGVs.

5.17.2 Heterogenous A-UGVs: 

5.18.1 Manual Task Assignment—Give each A-UGV its own task;

5.18.2 Automatic Task Assignment—Give fleet controller tasks to be performed by the A-UGVs.

5.19.1 One A-UGV’s information is shared with one or more A-UGVs in its fleet from the same manufacturer;

5.19.2 One A-UGV’s information is shared with one or more A-UGVs in its fleet from different manufacturers;

5.19.3 Information from a sensor connected to the A-UGV system informs one or more A-UGVs in its fleet from the same manufacturer;

5.19.4 Information from a sensor connected to the A-UGV system informs one or more A-UGVs in its fleet from different manufacturers;

5.19.5 External systems can inform the fleet.

5.20.1 Stop and wait for permission to use a traffic zone (one A-UGV per traffic zone);

5.20.2 Gets permission to use a traffic zone without requiring stopping (one A-UGV per traffic zone);

5.20.3 Stop and wait for permission to use a traffic zone (more than one A-UGV per traffic zone);

5.20.4 Gets permission to use a traffic zone without requiring stopping (more than one A-UGV per traffic zone);

5.20.5 Does not require traffic zones, requires communication with fleet controller or other vehicles, or combinations thereof;

5.20.6 Does not require traffic zones and does not require communication with fleet controller or other vehicles, or combinations thereof.

5.21.1 Tasks can only be given when they are able to be executed;

5.21.2 Can give future time that task needs to occur;

5.21.3 Tasks are performed by one A-UGV but can only be performed by a subset of the fleet;

5.21.4 Tasks can require collaboration of multiple A-UGVs;

5.21.5 Can reorder execution of tasks when given new tasks;

5.21.6 Tasks can have priority;

5.21.7 Can change A-UGV performance based on predicted future tasks;

5.21.8 Tasks can have dependencies of other tasks.