ASTM F3381-19

4.1 This section lists and explains the characteristics that are used to describe a stationary obstacle.

4.2 It is essential that sufficient information about the obstacle is recorded using this practice so that the obstacle can be replicated. This will allow comparisons to be made between test method performances that use obstacles with similar characteristics.

4.3 Class: 

4.4 Parts of the Obstacle: 

4.5 Shape: 

4.6 Face Quality: 

4.7 Taper: 

4.8 Edge Quality.

4.9 The quality of the vertices where the boundaries of the shape meet (see Fig. 5), which can be internal or external on the obstacle. The edge characteristics can be:

4.10 Direction: 

4.11 Dimensions: 

4.12 Material: 

4.13 Surface: 

4.14 Note—Test pieces from other standards can be described using this practice. For example, the cylindrical test pieces from ANSI/ITSDF B56.5 can be described as vertical or horizontal bars with cylindrical edges and flat black surface qualities.

4.15 Examples of common surface characteristics referenced in other standards are listed in the appendix (see X1.1).

4.16 Other Relevant Features: 

4.17 Obstacle Description Persistence: 

1.1 This practice specifies physical characteristics that can be used to describe obstacles utilized within ASTM Committee F45 test methods. The obstacle characteristics specified in this practice are not described with respect to the manner in which they will be sensed or detected by an A-UGV. Rather, the obstacles are described according to their real world characteristics. For example, the real world characteristics of a wooden box that is flat black on one side can be described according to its actual dimensions, material, and color. An A-UGV with a lidar sensor may have difficulty detecting the side of the box that is flat black, which could make the obstacle appear smaller to the A-UGV compared to its actual dimensions in the real world. However, this may not be the case for other A-UGVs due to the wide variety of sensors used to detect obstacles, so the actual, real world characteristics are used to describe it instead.

1.2 Real world, existing objects can be used as obstacles and described using this practice. The characteristics specified herein can also be used to construct test artifacts to use as representative obstacles that are intended to have similar characteristics to that of real world obstacles. The obstacles that can be described using this practice may be found in indoor and outdoor environments.

1.3 This practice does not purport to cover all relevant obstacle characteristics that may have an effect on A-UGV performance. The characteristics specified in this practice are limited to the physical properties which are considered to be the most salient in terms of the effects they can have on A-UGV performance. As such, the user of this standard may select the level of detail to use in order to describe the characteristics of an obstacle in such a way. The characteristics are also limited to those which are more easily measurable and replicable when comparing test method results that use similar obstacles.

1.4 This practice only covers obstacles that exist on or above the ground, sometimes referred to as positive obstacles, and remain stationary while the A-UGV is performing tasks. Stationary real world obstacles of this type include pallets on the ground, desks and tables, and other A-UGVs. This practice does not include obstacles that exist below the ground (for example, holes), sometimes referred to as negative obstacles. This practice does not cover boundaries or features in an environment that are unchanging and known prior to an A-UGV task, such as walls, racks, or other infrastructure.

1.5 This practice specifies a variety of physical characteristics of an obstacle, including shapes, dimensions, and surface qualities. This practice does not specify the location properties of an obstacle within a test method apparatus aside from measurements in reference to the ground plane of the environment.

1.6 When constructing a test artifact as an obstacle representative of a genuine obstacle (see 4.1), a combination of characteristics can be selected and used to guide fabrication. The use of similar genuine obstacles (that is, real world objects) may decrease reproducibility of testing conditions compared to using artifact obstacles (that is, those that are fabricated for the purposes of testing), unless the same real world object is used between multiple tests.

1.7 This practice does not specify A-UGV performance in the presence of obstacles. The intent of this practice is to enable comparisons between tests that use obstacles with similar characteristics.

1.8 This practice does not require that certain obstacle characteristics be used as part of a test method. The test requestor can elect specific obstacle characteristics to be used as part of a test method.

1.9 Obstacles described using this practice can be utilized in test methods specified by other ASTM Committee F45 standards, such as Test Method F3244 – 17. In the appendix, a baseline test is described that can be used to determine if an obstacle is able to be detected by an A-UGV’s sensors prior to utilizing the obstacle in another ASTM Committee F45 test method (see X1.2).

1.10 The values stated in SI units are to be regarded as the standard. The values given in parentheses are not precise mathematical conversions to imperial units. They are close approximate equivalents for the purpose of specifying material dimensions or quantities that are readily available to avoid excessive fabrication costs of test apparatuses while maintaining repeatability and reproducibility of the test method results. These values given in parentheses are provided for information only and are not considered standard.

1.11 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety, health, and environmental practices and determine the applicability of regulatory limitations prior to use.

1.12 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.