ASTM WK33260

    New Test Method for Evaluating Ground Response Robot Maneuvering: Traverse Hallway Labyrinths with Complex Terrain

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    Developed by Subcommittee: E54.09 | Committee E54 | Contact Staff Manager


    1. Scope

    The purpose of this test method, as a part of a suite of HSI test methods, is to quantitatively evaluate a remotely teleoperated robots navigation capability on complex terrains and in confined areas while being remotely teleoperated. The apparatus associated with this test method challenges specific robot capabilities in repeatable ways to facilitate direct comparison of different robot models as well as particular configurations of similar robot models. The apparatus specifies a random maze aiming at differentiate the robots navigating capability via specified routes. This apparatus facilitates testing in temperature extremes and other environmental conditions such as darkness, smoke, rain, etc. The first metric is the completeness and correctness in the navigation tasks. The second metric, the time the robot takes to perform the test, provides a relative indication of performance. The suite of HSI test methods quantifies a corresponding set of elemental capabilities necessary for ground robot emergency response applications. As such, the suite should be used collectively to capture the overall HSI performance. The current, first set of the test methods includes search and navigation tasks in the maze and search tasks in under-body voids. Additional test methods will be developed within the suite to fully address robot HSI capabilities requirements. This suite of test methods characterizes the HSI capabilities of ground robots intended to be operated in human-scale, complex environments with variables including terrains, lighting, temperature, etc. Robots under test shall be teleoperated via operator control units (OCUs) that are out of sight and sound of the test apparatuses but within the radio or tethered communications range, except when the communication is the subject of the testing. The robotic configuration, as to be tested, shall be specified for all the subsystems and is to remain the same for all the suites of the test methods, as appropriate. Any variation in robot configuration will result in retesting for all the suites of the test methods to provide a comprehensive perspective of the performance for the particular robotic variant.


    emergency response, sensor, operator control unit, OCU, remote teleoperation, responders, robot, test suite, urban search and rescue, US&R


    These test methods were developed for emergency response robots, but may be applicable to other application domains. They can be used to ascertain operator proficiencies during training. They can provide practice tasks that exercise robotic control, including actuators, sensors, and operator interfaces. They can also provide performance objectives for the corresponding subsystems on the robots.

    The title and scope are in draft form and are under development within this ASTM Committee.

    Citing ASTM Standards
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    Work Item Status

    Date Initiated:

    Technical Contact:
    Hui-Min Huang

    Draft Under Development