Work Item
ASTM WK86333

New Practice for Implementing Forcibly Unlocalized Conditions on A-UGV Test Methods

1. Scope

1. For an A-UGV (Automatic, Automated, or Autonomous Uncrewed Ground Vehicle – see F3200) to perform navigation as expected, the A-UGV controller typically includes an internal map of its environment and a goal to which the A-UGV can plan a route. The A-UGV pose (position and orientation – see F3200) is referenced to the internal map pose, also known as localized, allowing the goal and the planned route to be determined. The A-UGV pose can become unlocalized from its reference when, for example, an A-UGV wheel(s) slips or the A-UGV is powered off, moved, and then powered on (i.e., forcibly unlocalized). When unlocalized, the A-UGV may react unpredictably. This practice defines standard tests that demonstrate and confirm intended A-UGV performance when it is moved from a localized pose.
2. This practice includes a method to confirm and document the consistency of A-UGV localization through a standard test procedure.
3. This standard is intended for use by A-UGV manufacturers, installers, and users to quantitatively confirm the repeatability of an A-UGV’s performance when it is forcibly unlocalized.
4. This practice shall be performed in a testing laboratory or the location where the specified apparatus, environmental conditions, and A-UGV test configuration are implemented. Environmental conditions shall be recorded as specified in F3218 and the A-UGV test configuration shall be recorded as specified in F3470.
5. This practice describes a forcibly unlocalized A-UGV impairment similar to communication or obstacle impairments described in F3244 which evaluates A-UGV use in defined areas where A-UGVs shall possess a certain set of navigation capabilities appropriate to A-UGV operations, including localization.


localize; A-UGV; performance testing; safety; reference pose


This practice defines standard tests that demonstrate and confirm intended A-UGV performance when it is moved from a localized pose. The practice is needed by A-UGV manufacturers, users, and integrators to measure initial and enroute-to-goal vehicle performance when the vehicle has been unlocalized. The concept for forcibly unlocalizing an A-UGV was presented and demonstrated several times over more than a year to the F45 committee who agreed that this standard should be developed.

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: 05-09-2023

Technical Contact: SOOCHEOL YOON

Item: 000