Designation:E2801−11StandardTestMethodforEvaluatingEmergencyResponseRobotCapabilities:Mobility:ConfinedAreaObstacles:Gaps1ThisstandardisissuedunderthefixeddesignationE2801;thenumberimmediatelyfollowingthedesignationindicatestheyearoforiginaladoptionor,inthecaseofrevision,theyearoflastrevision.Anumberinparenthesesindicatestheyearoflastreapproval.Asuperscriptepsilon(´)indicatesaneditorialchangesincethelastrevisionorreapproval.1.Scope1.1Purpose:1.1.1Thepurposeofthistestmethodistoquantitativelyevaluateateleoperatedgroundrobot’s(seeTerminologyE2521)capabilityofcrossinghorizontalgapsinconfinedareas.1.1.2Robotsshallpossessacertainsetofmobilitycapabilities,includingnegotiatingobstacles,tosuitcriticaloperationssuchasemergencyresponses.Ahorizontalgapwithanunknownedgeconditionisatypeofobstaclethatexistsinemergencyresponseandotherenvironments.Theseenviron-mentsoftenposeconstraintstoroboticmobilitytovariousdegrees.Thistestmethodspecifiesapparatuses,procedures,andmetricstostandardizethistesting.1.1.3Thetestapparatusesarescalabletoprovidearangeoflateraldimensionstoconstraintheroboticmobilityduringtaskperformance.Fig.1showsthreeapparatussizestotestrobotsintendedfordifferentemergencyresponsescenarios.1.1.4Emergencyresponsegroundrobotsshallbeabletohandlemanytypesofobstaclesandterraincomplexities.Therequiredmobilitycapabilitiesincludetraversinggaps,hurdles,stairs,slopes,varioustypesoffloorsurfacesorterrains,andconfinedpassageways.Yetadditionalmobilityrequirementsincludesustainedspeedsandtowingcapabilities.Standardtestmethodsarerequiredtoevaluatewhethercandidaterobotsmeettheserequirements.1.1.5ASTMTaskGroupE54.08.01onRoboticsspecifiesamobilitytestsuite,whichconsistsofasetoftestmethodsforevaluatingthesemobilitycapabilityrequirements.Thiscon-finedareagaptestmethodisapartofthemobilitytestsuite.Theapparatusesassociatedwiththetestmethodschallengespecificrobotcapabilitiesinrepeatablewaystofacilitatecomparisonofdifferentrobotmodelsaswellasparticularconfigurationsofsimilarrobotmodels.1.1...
