Work Item
ASTM WK75129

New Guide for Set of Objects used with A-UGVs

1. Scope

1.1 This guide provides a standard set of reference objects for use with automatic, automated, or autonomous unmanned ground vehicles (A-UGVs). The objects set includes typical objects found within industrial areas including, but not limited to: warehouses, hospitals, office spaces, and manufacturing facilities. The objects set is intended for use by A-UGV manufacturers and users to test the performance of A-UGVs when near the object(s). 1.2 The objects set contains one each of the following items: pallet, racking, forklift tine(s), ladder, cable cover, table, cart, intravenous (IV) pole, chair. The objects set is not intended to be exhaustive. 1.3 It is intended that the objects set includes off-the-shelf items. This guide provides a reporting method to provide obstacle information (e.g., model, serial number, photograph) to allow obstacle use for exact replication of tests. 1.4 The values stated in SI units are to be regarded as the standard. The values given in parentheses are not precise mathematical conversion 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. 1.5 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. 1.6 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.


automatic guided vehicle; mobile robot


A-UGVs navigate, dock and/or perform other tasks within, for example manufacturing, warehouse, hospital, and other environments. Objects, (defined in F3200 as anything in the environment that is not infrastructure) and obstacles (defined in F3200 as static or moving object that obstructs the intended movement) are common within these environments. Objects can cause A-UGV challenges in navigation, docking, etc. where object detection systems must provide the highest level of performance to allow safe and productive vehicle use. ASTM Committee F45 surveyed the A-UGV community of manufacturers, users and researchers and determined that a relatively short list of objects are the most common objects that their vehicles must detect and avoid. The set of objects is described in the work item.

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


Developed by Subcommittee: F45.03

Committee: F45

Staff Manager: Nora Nimmerichter

Work Item Status

Date Initiated: 12-08-2020

Technical Contact: Adam Norton