1、Designation: F3327 18Standard Practice forRecording the A-UGV Test Configuration1This standard is issued under the fixed designation F3327; the number immediately following the designation indicates the year oforiginal adoption or, in the case of revision, the year of last revision. A number in pare
2、ntheses indicates the year of last reapproval. Asuperscript epsilon () indicates an editorial change since the last revision or reapproval.1. Scope1.1 This practice describes a means to record the A-UGVconfiguration when testing. The practice provides a method forrecording A-UGV hardware and softwar
3、e control parametersand describes high-level capabilities, such as used for A-UGVsafety and navigation.1.2 This practice: contextualizes the A-UGV configurationduring a test, including the identification and adjustment ofmain configuration parameters; provides the proper context fortest results; pro
4、vides a basis for comparison of the testcircumstances across different vehicles or tests, or both; andallows a test to be recreated.1.3 The values stated in SI units are to be regarded as thestandard. The values given in parentheses are not precisemathematical conversions to imperial units. They are
5、 closeapproximate equivalents for the purpose of specifying A-UGVcharacteristics while maintaining repeatability and reproduc-ibility of the test method results. These values given inparentheses are provided for information only and are notconsidered standard.1.4 This standard does not purport to ad
6、dress all of thesafety concerns, if any, associated with its use. It is theresponsibility of the user of this standard to establish appro-priate safety, health, and environmental practices and deter-mine the applicability of regulatory limitations prior to use.1.5 This international standard was dev
7、eloped in accor-dance with internationally recognized principles on standard-ization established in the Decision on Principles for theDevelopment of International Standards, Guides and Recom-mendations issued by the World Trade Organization TechnicalBarriers to Trade (TBT) Committee.2. Referenced Do
8、cuments2.1 ASTM Standards:2F3200 Terminology for Driverless Automatic Guided Indus-trial Vehicles3. Terminology3.1 Terms used within this practice refer to TerminologyF3200.4. Summary of Practice4.1 This practice describes a method for recording theA-UGV test configuration when performing tests desc
9、ribed inA-UGV test methods. A-UGVs have a series of hardware andsoftware parameters that vary the vehicle functionality, forexample:4.1.1 Different A-UGVs may perform differently dependentupon their hardware setup and software capabilities andsettings; or4.1.2 The same A-UGV may perform differently
10、dependentupon its hardware setup and software settings.4.2 Main configuration parameters are, for example:4.2.1 Hardware: A-UGV weight, size, wheelbase, drive/steer method, load carry or pull method, sensors, and onboardequipment (for example, roller tables or robot arms); and4.2.2 Software: control
11、 and monitor software, firmwareversions, and software settings for maximum accelerations andvelocities, preferred paths, and restricted areas, among manyother possible hardware and software configuration param-eters.4.3 High level capabilities are, for example: obstacleavoidance, path planning, loca
12、lization method, safety.4.4 This practice also contextualizes test results of a testmethod by identifying main configuration parameters as re-quested prior to the test method. A-UGV configuration isreported using a standard method, defined in this practice,which includes the documentation of the con
13、text for testresults. For example, the result of a timed test could bedependent upon varying speed constraints an A-UGV havinga speed constraint of 1.5 m/s as compared to a speed constraintof 2.0 m/s. As such, comparing two A-UGV configurationscould allude to which parameters affect vehicle performa
14、nce.5. Significance and Use5.1 The significance of the information to be recorded in atest report allows forA-UGV performance to be contextualizedwith A-UGV configuration.1This practice is under the jurisdiction of ASTM Committee F45 on DriverlessAutomatic Guided Industrial Vehicles and is the direc
15、t responsibility of Subcom-mittee F45.91 on Terminology.Current edition approved July 1, 2018. Published August 2018. DOI: 10.1520/F3327-18.2For referenced ASTM standards, visit the ASTM website, www.astm.org, orcontact ASTM Customer Service at serviceastm.org. For Annual Book of ASTMStandards volum
16、e information, refer to the standards Document Summary page onthe ASTM website.Copyright ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United StatesThis international standard was developed in accordance with internationally recognized principles on standa
17、rdization established in the Decision on Principles for theDevelopment of International Standards, Guides and Recommendations issued by the World Trade Organization Technical Barriers to Trade (TBT) Committee.15.2 Limitations of the practice are that not all A-UGVs havethe same capabilities or confi
18、guration parameters. For example,for capabilities, a vehicle that remaps during navigation versusanother vehicle that uses a static map may behave differently inrepeated runs of an obstacle avoidance test. For configuration,a vehicle that remaps during navigation may have varyingtimes that obstacles
19、 remain in the map for test recreation.5.3 The environment map used by the A-UGV, developedthrough localization including any landmarks, shall be saved asused on the A-UGV and should be saved and provided as ahuman-readable layout on or off theA-UGV (see Appendix X1showing a sample layout drawing).5
20、.4 The main A-UGV hardware parameters shall be re-corded as follows:5.4.1 Make and Model5.4.2 Part Number5.4.3 Serial Number5.4.4 Hardware Revision number (if any)5.4.5 Number of drive/steer wheels5.4.6 Steering type5.4.7 Type: for example, Fork, Tugger, Unit Load, Cart5.4.8 Loaded/Unloaded5.5 The m
21、ainA-UGV software parameters shall be recordedas 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.5.5.4 Stand-off distances safety sensor thresholds, ob-stacle avoidance t
22、hresholds.5.6 The context for the test shall be recorded by providingdetailed answers to the following questions:5.6.1 When are the various software configurations usedduring the test? For example, two software versions may berequired as follows: Use configuration A for straight aisles andconfigurat
23、ion B for turns.5.6.2 What other hardware and software parameters/settingsare required to recreate the A-UGV behavior (that is, attacheddebug, settings, or other files)?5.6.3 What is the A-UGV layout that is saved and used onthe vehicle and, if possible, saved and provided as a human-readable versio
24、n?5.6.4 Are there constraints that the requestor has placed onthe A-UGV? Examples may include the following:5.6.4.1 generic test environment: for example, outdoors orindoors, day or night, defined or undefined test areas?5.6.4.2 velocity and acceleration that are below the maxi-mum capability?5.6.4.
25、3 clearances between the A-UGV and an obstacleduring 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 preferredpath?5.7 Higher-level categories of A-UGV capabilities shall berecorded as follows:5.7.1 Localizat
26、ion method: for example, natural features,reflective markers, tape on ground, matrix barcodes/visualfiducial system, lights in ceiling.5.7.2 Safety-rated equipment: for example, scanning lasersand their make and model numbers; other functions of safetysensors.5.7.3 Other sensors used: for example, c
27、ameras, includingtheir make and model numbers, and image processing softwareused for path planning.5.7.4 Added equipment for A-UGV testing: for example,cameras, including their make and model numbers, and imageprocessing software used for capturing docking performance.6. Procedure6.1 When conducting
28、 the Committee F45 test methods, thetest requestor can choose the A-UGV configuration to berecorded as described in Section 4. The test requestor can electand apply any of the configuration methods and parameters tothe A-UGV-under-test included herein and record the levels asdescribed in Section 7.6
29、.2 A-UGV configuration may be changed prior to a test. Atany time after the start of a test, as instructed by the testsupervisor, the A-UGV configuration shall not be manuallychanged by any person. In the event that the A-UGV configu-ration automatically changes during a test, the test requestorshal
30、l inform the test supervisor of such occurrence(s) prior tothe test and the occurrence(s) shall be noted on the test report.7. Report7.1 A test report is required for recording the A-UGVconfiguration. The test report shall include the followingfeatures:7.1.1 A photograph or detailed drawing showing
31、the hard-ware configuration of the A-UGV to be tested.7.1.2 A hardcopy or electronic file of the software configu-ration of the A-UGV to be tested.7.1.3 Any additional A-UGV features or important notes, orboth, that may cause A-UGV performance variation.7.1.4 The test report (see example in Fig. X1.
32、1) shall befilled out. In the situation where a particular configurationparameter is not known, it shall be noted as such using“Unknown.”NOTE 1The implementation of a test report is not standardized. Assuch, the resulting test reports can be different while conforming to thisspecification. Fig. 1 pr
33、ovides an illustration of a blank test report for thispractice.8. Keywords8.1 A-UGV; automatic guided vehicle (AGV); driverlessautomatic guided industrial vehicles; industrial; mobile robot;mobilityF3327 182FIG. 1 Test Report: (a) Drawing and (b) Parameters TableF3327 183FIG. 1 Test Report: (a) Draw
34、ing and (b) Parameters Table (continued)F3327 184APPENDIXES(Nonmandatory Information)X1. EXAMPLE A-UGV CONFIGURATION AUTOMATIC - UGVX1.1 An example Automatic-UGV was used to verify thepractice of recording the A-UGV configuration as described inthis practice. Fig. X1.1 shows the completed Test Repor
35、t forthe example Automatic-UGV.X1.2 Example Detailed Software ParametersX1.2.1 The following are screenshots of main and detailedsoftware parameters set for an Automatic-UGV. Although themethod for describing the detailed software parameters is not apart of this practice, the user should provide thi
36、s and any otherinformation about the A-UGV configuration so that the manu-facturer or user can replicate tests of this vehicle. Figs.X1.2-X1.7 provide examples of additional softwareinformation.F3327 185FIG. X1.1 Example Test Report for an Automatic-UGVF3327 186FIG. X1.1 Example Test Report for an A
37、utomatic-UGV (continued)F3327 187FIG. X1.2 Software Parameters Set for the (a) Right Rear, (b) Left Rear, and (c) Front Wheels. All Wheels are Driven and Steerable forthis Vehicle. Values are ChangeableF3327 188FIG. X1.3 Software Parameters Set for the Laser Scanning, Navigation Sensor. Values are C
38、hangeableFIG. X1.4 Software Parameters Set for the Operator Interface, Navigation Initialization Method. Values are ChangeableF3327 189FIG. X1.5 Software Parameters Set for (a) a Vehicles Laser Navigation Sensor and Serial Data Input/Output (SDIO) and (b) Further De-tails of an SDIO. Values are Chan
39、geableF3327 1810FIG. X1.5 Software Parameters Set for (a) a Vehicles Laser Navigation Sensor and Serial Data Input/Output (SDIO) and (b) Further De-tails of an SDIO. Values are Changeable(continued)F3327 1811FIG. X1.6 Software Parameters Set for the Autoinsert Function to Move the A-UGV onto a Guide
40、path. Values are ChangeableFIG. X1.7 Software Parameters Set for an A-UGV Communication Port. Values are ChangeableF3327 1812X2. EXAMPLE A-UGV CONFIGURATION AUTONOMOUS - UGVX2.1 An example Autonomous-UGV was used to verify thepractice of recording the A-UGV configuration as described inthis practice
41、. Fig. X2.1 shows the completed Test Report forthe example Autonomous-UGV.FIG. X2.1 Example Test Report for an Autonomous-UGVF3327 1813FIG. X2.1 Example Test Report for an Autonomous-UGV (continued)F3327 1814X2.2 Example Detailed Software ParametersX2.2.1 Figs. X2.2 and X2.3 show two screenshots ofe
42、xample software parameters set for an Autonomous-UGV.Only two pages of hundreds of pages available on the vehicleare shown as examples.FIG. X2.2 Map Features Software Configuration Example for an Autonomous-UGVF3327 1815ASTM International takes no position respecting the validity of any patent right
43、s asserted in connection with any item mentionedin this standard. Users of this standard are expressly advised that determination of the validity of any such patent rights, and the riskof infringement of such rights, are entirely their own responsibility.This standard is subject to revision at any t
44、ime by the responsible technical committee and must be reviewed every five years andif not revised, either reapproved or withdrawn. Your comments are invited either for revision of this standard or for additional standardsand should be addressed to ASTM International Headquarters. Your comments will
45、 receive careful consideration at a meeting of theresponsible technical committee, which you may attend. If you feel that your comments have not received a fair hearing you shouldmake your views known to the ASTM Committee on Standards, at the address shown below.This standard is copyrighted by ASTM
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