ASTM F3470-20

This international standard was developed in accordance with internationally recognized principles on standardization established in the Decision on Principles for the
Development of International Standards, Guides and Recommendations issued by the World Trade Organization Technical Barriers to Trade (TBT) Committee.
Designation: F3470 − 20
Standard Guide for
A-UGV Capabilities
This standard is issued under the fixed designation F3470; the number immediately following the designation indicates the year of
original adoption or, in the case of revision, the year of last revision. A number in parentheses indicates the year of last reapproval. A
superscript epsilon (´) indicates an editorial change since the last revision or reapproval.
1. Scope These values given in parentheses are provided for information
only and are not considered standard.
1.1 Thisguidecategorizestheautonomouscapabilitiesofan
1.5 This standard does not purport to address all of the
automatic through autonomous-unmanned ground vehicle (A-
safety concerns, if any, associated with its use. It is the
UGV) based on the following list of capability categories:
responsibility of the user of this standard to establish appro-
(a) Goal Navigation: Pre-Programmed;
priate safety, health, and environmental practices and deter-
(b) Goal Navigation: In situ;
mine the applicability of regulatory limitations prior to use.
(c) Localization;
1.6 This international standard was developed in accor-
(d) Docking—Infrastructure Dependence;
dance with internationally recognized principles on standard-
(e) Obstacle Avoidance—Types of objects that can be
ization established in the Decision on Principles for the
avoided and are within the A-UGV envelope, and types of
Development of International Standards, Guides and Recom-
objects that can be avoided and are outside of the A-UGV
mendations issued by the World Trade Organization Technical
envelope;
Barriers to Trade (TBT) Committee.
(f) Changing Contour Area or Envelope;
(g) Changing Payload;
2. Referenced Documents
(h) Impaired Communication Behavior;
(i) Lost Communication Behavior;
2.1 ASTM Standards:
(j) Environmental Conditions;
F3200 Terminology for DriverlessAutomatic Guided Indus-
(k) Fleet Makeup—Fleet Task Assignment, Information
trial Vehicles
Sharing/Updating, Fleet Navigation Coordination, and Fleet
F3218 Practice for Documenting Environmental Conditions
Task Coordination.
for Utilization with A-UGV Test Methods
F3244 Test Method for Navigation: Defined Area
1.2 This guide provides a basis for A-UGV manufacturers
F3265 Test Method for Grid-Video Obstacle Measurement
and users to compare the intended task to theA-UGV capabil-
F3327 PracticeforRecordingtheA-UGVTestConfiguration
ity. This guide does not purport to cover all relevant capabili-
F3381 Practice for Describing Stationary Obstacles Utilized
ties or categories that an A-UGV can perform. Instead, this
within A-UGV Test Methods
guide provides a method for defining A-UGV capabilities and
limits of A-UGV capabilities within specified categories listed
2.2 Other Standards:
in 1.1.
ANSI/ITSDF B56.5-2019 Safety Standard for Driverless,
Automatic Guided Industrial Vehicles and Automated
1.3 One or more capabilities may be used to define the
Functions of Manned Industrial Vehicles
A-UGV capability and not all categories are required to be
ANSI/RIA 15.08 Safety Standard for Industrial Mobile
used for defining the capability of an A-UGV.
Robots and Mobile Manipulators
1.4 The values stated in SI units are to be regarded as the
EN 60529 Degrees of Protection Provided by Enclosures (IP
standard. The values given in parentheses are not precise 4
Code)
mathematical conversions to imperial units. They are close
BS EN 60529:1992 Degrees of Protection Provided by
approximate equivalents for the purpose of specifying material 4
Enclosures (IP Code)
dimensions or quantities that are readily available to avoid
excessive fabrication costs of test apparatuses while maintain-
ing repeatability and reproducibility of the test method results.
For referenced ASTM standards, visit the ASTM website, www.astm.org, or
contact ASTM Customer Service at service@astm.org. For Annual Book of ASTM
Standards volume information, refer to the standard’s Document Summary page on
This guide is under the jurisdiction of ASTM Committee F45 on Driverless the ASTM website.
Automatic Guided Industrial Vehicles and is the direct responsibility of Subcom- Available fromAmerican National Standards Institute (ANSI), 25 W. 43rd St.,
mittee F45.91 on Terminology. 4th Floor, New York, NY 10036, http://www.ansi.org.
Current edition approved Aug. 1, 2020. Published September 2020. DOI: Available from European Committee for Standardization (CEN), Avenue
10.1520/F3470-20. Marnix 17, B-1000, Brussels, Belgium, http://www.cen.eu.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
F3470 − 20
IEC 60509:1989 Degrees of Protection Provided by Enclo- fore provides a decomposition of many, perhaps not all,
sures (IP Code) categories and capabilities that are typical of current A-UGVs
globally marketed.
2.3 ASTM Adjuncts:
Capabilities Report
5.2 Capability Categories:
5.2.1 Goal Navigation: Pre-Programmed—Capabilities are
3. Terminology
the various abilities of the A-UGV to navigate a series of
externally-defined waypoints on the way to a final goal.
3.1 Many terms used within this document are defined as in
5.2.2 Goal Navigation: In situ—Capabilities are the various
Terminology F3200. The following terms and definitions are
abilities of the A-UGV to navigate to a final goal by using the
used within this document and are not defined within Termi-
A-UGV system’s internal logic to determine the route.
nology F3200.
5.2.3 Localization—Capabilities are the various abilities of
3.2 Definitions:
the A-UGV to determine its pose within an environment map.
3.2.1 capability, adj—ability of anA-UGV (operating inde-
5.2.4 Docking—Capabilities are the various abilities of the
pendently or within a fleet of A-UGVs) to perform a specified
A-UGV to stop at a position relative to another object or an
task.
absolute position in an environment.
3.2.2 category, n—a division of capabilities for an A-UGV
5.2.4.1 Infrastructure Dependence—Sub-category describ-
(operating independently or within a fleet of A-UGVs) re-
ing the need of the A-UGV to rely on features in the
garded as having particular shared characteristics.
environment for Goal Navigation: Pre-Programmed, Goal
Navigation: In-Situ, Localization, or Docking.
3.2.3 docking, v—arrival and act of stopping at a position
relative to another object. 5.2.5 Obstacle Avoidance: Single Vehicle—Capabilities are
the various abilities of the A-UGV not to collide with an
3.2.4 forcibly unlocalized, n—an A-UGV that has been
obstacle(s).
picked up and moved to another location (kidnapped) or is
5.2.5.1 Types of objects that can be avoided and are within
intentionally programmed that it is in the wrong location (for
theA-UGVenvelope—Describe the types of objects that can be
example, both a wildly-off position and an aliased position
avoided, as in 5.2.6, and are within the A-UGV envelope.
such as one aisle off).
5.2.5.2 Types of objects that can be avoided and are outside
3.2.5 positioning,v—arrivalandactofstoppingataposition
of the A-UGV envelope—Describe the types of objects that the
relative to an absolute position in an environment.
A-UGV can avoid, as in 5.2.6, and that are outside of the
A-UGV envelope.
4. Summary of Guide
5.2.6 ChangingContourAreaorEnvelope—theA-UGVcan
4.1 The guide provides a list and description (see 5.4)of
change contour area or envelope using stock settings or while
automatic through autonomous capabilities for industrial
operating and stopped or moving.
A-UGVs as compared to categories. Each category contains a
5.2.7 Changing Payload—The A-UGV can transport fixed
setofcapabilities,shownalongtheverticalaxisoftheexample
or moving payload(s) at 100 % rated weight and speed.
test report (see Section 9, Fig. 1), in which the guide-user can
5.2.8 Impaired Communication Behavior—A-UGV ac-
state, positively or negatively, the existence of a capability for
tion(s) when communication is disrupted.
an A-UGV.
5.2.9 Lost Communication Behavior—A-UGV action(s)
when communication stops.
5. Significance and Use
5.2.10 Environmental Conditions—Capabilities are the vari-
ous abilities of the A-UGV to overcome environmental condi-
5.1 This guide is intended to be used by manufacturers and
tions. Section 5.4 provides example standards referencing
users of A-UGVs: (1) to fully define capabilities of their
ingress protection (IP) rating and examples referenced within
A-UGV(s)or(2)toallowthestandardrequestortodescribethe
Practice F3218-18 that affect mobility where other environ-
A-UGVcapabilities required for the requestedA-UGVto align
mental conditions may also affect A-UGV capabilities (for
with assigned task(s).A-UGVs that are covered withinASTM
example, electrical interference, humidity, etc.).
CommitteeF45areindustrialvehiclesthat,forexample,canbe
automatic guided vehicles through mobile robots, can be
5.3 Fleet Categories:
pre-programmed-through-autonomously controlled, can oper-
5.3.1 Fleets of A-UGVs are defined in Terminology F3200
ate indoors or outdoors in infinitely diverse environmental
as a coordinated collection of vehicles. The following sections
conditions and therefore, with infinitely diverse functionality.
related to fleets provide descriptions of the capability catego-
To fully describe and measure the usefulness of these vehicles,
ries that a single A-UGV has as one of the vehicles within a
functionality can be divided into categories where associated
fleet.
capabilities can be independently measured. This guide there-
5.3.2 Fleet Makeup—The A-UGV type as compared to the
fleet: homogeneous (the same type and configuration as ve-
hicles within the fleet), or heterogeneous (different type or
Available from International Electrotechnical Commission (IEC), 3, rue de
configuration as vehicles within the fleet).
Varembé, 1st floor, P.O. Box 131, CH-1211, Geneva 20, Switzerland, https://
5.3.2.1 Fleet Task Assignment—Tasks can be given indi-
www.iec.ch.
vidually to the A-UGV or collectively to the A-UGV and the
Available from ASTM International Headquarters. Order Adjunct No.
ADJF3470-EA. Original adjunct produced in 2020. Adjunct last revised in 2020. other vehicles within the fleet.
F3470 − 20
5.3.2.2 Information Sharing/Updating (for example, pres- 5.7 Docking:
ence of obstacles, environment map changes)—The A-UGV 5.7.1 Can position at preprogrammed waypoints, for
can provide/receive data or knowledge to/from other A-UGVs example, absolute coordinates.
or sensors. 5.7.2 Can dock with a static object, for example, conveyer.
5.7.3 Can dock with a moveable, but stationary, object, for
5.3.2.3 Fleet Navigation Coordination—The A-UGV can
interact with a fleet through a fleet controller for A-UGV example, another vehicle, pallet, or cart.
5.7.4 Can dock with coordinated movement between the
navigation permissions or other navigation requirements.
A-UGV and the dock, for example, mid-air fueling.
5.3.2.4 Fleet Task Coordination—The A-UGV can share
features (for example, task fulfillment requirements, such as:
5.8 Infrastructure Dependence—Ability to rely on features
roller table docking issues causes a shifted pickup position;
in the environment. This category is a subset of Goal Naviga-
unitloaderisrequiredinsteadofaforklift)thatthefleetcanuse
tion: Pre-Programmed, Goal Navigation: In situ, Localization,
to accomplish operations. A-UGV categories and capabilities
and Docking.
are listed and described in the following sections. A standard
5.8.1 Can rely on features in the environment that were
testmethodisalsoshowninparentheseswithinacapabilityfor
specifically installed to assist A-UGV operation, for example,
those that are currently available as, for example Test Method
magnetic tape, QR codes.
F3244, to allow the capability to be repeatably tested.
5.8.2 Can rely on natural features, for example, walls,
racking.
5.4 Goal Navigation: Pre-Programmed:
5.4.1 Can navigate a preprogrammed path to the goal (Test
5.9 Obstacle Avoidance:
Method F3244).
5.9.1 Can stop when path is obstructed, for example, pallet
5.4.2 If encounters obstacle, can leave the preprogrammed
in the path (Test Method F3244, Practice F3381, Test Method
path and return to the preprogrammed path to the goal (Test
F3265).
Method F3244, Practice F3381).
5.9.2 Can navigate around static obstacles without collision,
5.4.3 If blocked, can navigate an alternate preprogrammed
for example, navigating around a box partially blocking a
path to the goal, for example, navigate a different hallway/
hallway (Test Method F3244, Practice F3381, Test Method
aisle.
F3265).
5.4.4 If blocked, can navigate multiple alternate prepro- 5.9.3 Can navigate around moving obstacles without
grammed paths to the goal, for example, navigate a third
collision,forexample,navigatingaroundamovingvehiclethat
hallway/aisle if the second is blocked. crosses the A-UGV path (Test Method F3244, Test Method
F3265).
5.5 Goal Navigation: In situ:
5.10 Types of Objects that can be Avoided and are Within
5.5.1 Can determine and navigate an initial path to the goal
(Test Method F3244). the A-UGV Envelope (Practice F3381):
5.10.1 On ground, <10 cm obstacle height.
5.5.2 If blocked, can determine and navigate an alternate
path to the goal, for example, navigate a different hallway/ 5.10.2 Onground,10cmto20cmobstacleheight.Notethat
20 cm is based on a test piece size described in ITSDF B56.5.
aisle.
5.10.3 On ground, >20 cm obstacle height.
5.5.3 If blocked, can determine and navigate multiple alter-
5.10.4 Elevated/suspended ≥20 cm and within the A-UGV
nate paths to the goal, for example, navigate a third hallway/
envelope, <10 cm obstacle height. Elevated is measured from
aisle if the second is blocked.
the bottom of obstacle to the ground.
5.6 Localization:
5.10.5 Elevated/suspended ≥20 cm and within the A-UGV
5.6.1 A-UGV can find its initial pose automatically.
envelope, ≥10 cm obstacle height.
5.6.2 Given an initial pose, A-UGV does not get lost in a
5.11 Types of Objects that can be Avoided and are Outside
static environment, for example, office building (Test Method
of the A-UGV Envelope:
F3244, Practice F3381).
5.11.1 Negative obstacles, ≤1 cm obstacle height, for
5.6.3 Given an initial pose, A-UGV does not get lost in a
example, missing tile.
dynamic environment, for example, warehouse with pallets
5.11.2 Negative obstacles, >1 to ≤10 cm obstacle height, for
being moved (Test Method F3244).
example, removable panel on a raised floor.
5.6.4 Given that the A-UGV is correctly localized, it be-
5.11.3 Negative obstacles, >10 cm obstacle height, for
comes forcibly unlocalized, then it stops and requires human
example, loading dock, cliff, manhole.
intervention to restart. The A-UGV becomes forcibly unlocal-
5.11.4 Elevated/suspended above the A-UGV envelope and
izedwhen,forexample,itgetspickedupandmovedtoanother
within the vertical projection of the A-UGV envelope.
location (kidnapped) or is intentionally told it is in the wrong
5.11.5 Beside the A-UGV envelope.
location through software (both a greatly off position and an
aliased position such as one aisle off). 5.12 Changing Contour Area or Envelope:
5.6.5 A-UGV can automatically determine its pose after 5.12.1 Can change contour area from stock settings;
being forcibly unlocalized.
5.12.2 Can change contour area while operating and
5.6.6 A-UGV can update its environme
...