GB/T 38834.2-2023Robotics - Performance criteria and related test methods for service robots - Part 2: Navigation (English PDF)

Foreword

This document complies with the provisions of GB/T 1.1-2020 "Standardization Work Guidelines Part 1: Structure and Drafting Rules of Standardization Documents" Drafting.

This document is Part 2 of GB/T 38834 "Performance Specifications and Test Methods for Robotic Service Robots". GB/T 38834 The following sections have been published.

---Part 1: Wheeled robot movement;

---Part 2: Navigation;

---Part 3: Operation.

This document is equivalent to ISO 18646-2:2019 "Performance Specifications and Test Methods for Robotic Service Robots Part 2: Navigation".

Introduction

GB/T 38834 "Performance Specifications and Test Methods for Robotic Service Robots" aims to standardize the performance and test methods of service robots. The law is intended to consist of four parts.

---Part 1: Wheeled robot locomotion. The purpose is to specify the motion performance characteristics and test methods of wheeled robots.

---Part 2: Navigation. The purpose is to specify the navigation performance characteristics and test methods of mobile service robots.

---Part 3: Operation. The purpose is to specify the operational performance characteristics and test methods of service robots.

---Part 4: Waist Support Robot. The purpose is to specify the support performance characteristics and test methods of lumbar support robots.

1 Scope

This paper describes methods for specifying and evaluating the navigation performance of mobile service robots. Navigation performance in this paper is measured by pose accuracy Judged against repeatability and ability to detect and avoid obstacles. Other navigation performance test methods are available but are not covered by this document. in the file.

The performance and related test methods in this document are only applicable to mobile platforms in contact with the traveling surface. ISO 9283 applies to the performance of operating machines Can evaluate.

This document is intended for indoor environments only. However, as stated in Appendix A, the test is applicable to robots used in outdoor environments.

This document does not apply to the verification and validation of safety requirements. This document does not cover the safety requirements for test personnel during the test.

2 Normative reference documents

The contents of the following documents constitute essential provisions of this document through normative references in the text. Among them, the dated quotations For undated referenced documents, only the version corresponding to that date applies to this document; for undated referenced documents, the latest version (including all amendments) applies to this document.

GB/T 12643-2013 Robots and Robot Equipment Glossary (ISO 8373:2012, IDT)

ISO 7176-13 Wheelchairs-Part 13: Determination of coefficient of friction of test surfaces

Note: GB/T 18029.13-2008 Wheelchairs Part 13: Determination of test surface friction coefficient (ISO 7176-13:1989, IDT)

3 Terms and definitions

The terms and definitions defined in GB/T 12643-2013 and the following apply to this document.

ISO and IEC maintain the following terminology databases for standardization at the following URL.