ASTM E2801-11(2020)

1.1.1 The purpose of this test method is to quantitatively evaluate a teleoperated ground robot's (see Terminology E2521) capability of crossing horizontal gaps in confined areas.

1.1.2 Robots shall possess a certain set of mobility capabilities, including negotiating obstacles, to suit critical operations such as emergency responses. A horizontal gap with an unknown edge condition is a type of obstacle that exists in emergency response and other environments. These environments often pose constraints to robotic mobility to various degrees. This test method specifies apparatuses, procedures, and metrics to standardize this testing.

1.1.3 The test apparatuses are scalable to provide a range of lateral dimensions to constrain the robotic mobility during task performance. Fig. 1 shows three apparatus sizes to test robots intended for different emergency response scenarios.

FIG. 1 Mobility: Confined Area Obstacles: Gaps Apparatuses

1.1.4 Emergency response ground robots shall be able to handle many types of obstacles and terrain complexities. The required mobility capabilities include traversing gaps, hurdles, stairs, slopes, various types of floor surfaces or terrains, and confined passageways. Yet additional mobility requirements include sustained speeds and towing capabilities. Standard test methods are required to evaluate whether candidate robots meet these requirements.

1.1.5 ASTM Task Group E54.08.01 on Robotics specifies a mobility test suite, which consists of a set of test methods for evaluating these mobility capability requirements. This confined area gap test method is a part of the mobility test suite. The apparatuses associated with the test methods challenge specific robot capabilities in repeatable ways to facilitate comparison of different robot models as well as particular configurations of similar robot models.

1.1.6 The mobility test suite quantifies elemental mobility capabilities necessary for ground robots intended for emergency response applications. As such, users can use either the entire suite or a subset based on their particular performance requirements. Users are also allowed to weight particular test methods or particular metrics within a test method differently based on their specific performance requirements. The testing results should collectively represent an emergency response ground robot's overall mobility performance. These performance data can be used to guide procurement specifications and acceptance testing for robots intended for emergency response applications.