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.
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.
