Designation:E2828−11StandardTestMethodforEvaluatingEmergencyResponseRobotCapabilities:Mobility:ConfinedAreaTerrains:SymmetricStepfields1ThisstandardisissuedunderthefixeddesignationE2828;thenumberimmediatelyfollowingthedesignationindicatestheyearoforiginaladoptionor,inthecaseofrevision,theyearoflastrevision.Anumberinparenthesesindicatestheyearoflastreapproval.Asuperscriptepsilon(´)indicatesaneditorialchangesincethelastrevisionorreapproval.1.Scope1.1Purpose:1.1.1Thepurposeofthistestmethod,asapartofasuiteofmobilitytestmethods,istoquantitativelyevaluateateleoper-atedgroundrobot’s(seeTerminologyE2521)capabilityoftraversingcomplexterraincomposedofsymmetricstepfieldsinconfinedareas.1.1.2Robotsshallpossessacertainsetofmobilitycapabilities,includingnegotiatingcomplexterrains,tosuitcriticaloperationssuchasemergencyresponses.Apartofthecomplexityisthattheenvironmentsoftenposeconstraintstoroboticmobilitytovariousdegrees.Thistestmethodspecifiesapparatusestostandardizeaconfinedareasterrainthatiscomposedofsymmetricstepfieldsandthatnotionallyrepre-sentstypesofterrainscontainingextensivediscontinuities,existentinemergencyresponseandotherenvironments.Thistestmethodalsospecifiesproceduresandmetricstostandard-izetestingusingtheapparatus.1.1.3Thetestapparatusesarescalabletoprovidearangeoflateraldimensionstoconstraintheroboticmobilityduringtaskperformance.Fig.1showsthreeapparatussizestotestrobotsintendedfordifferentemergencyresponsescenarios.1.1.4Emergencyresponsegroundrobotsshallbeabletohandlemanytypesofobstaclesandterrains.Therequiredmobilitycapabilitiesincludetraversinggaps,hurdles,stairs,slopes,varioustypesoffloorsurfacesorterrains,andconfinedpassageways.Yetadditionalmobilityrequirementsincludesustainedspeedsandtowingcapabilities.Standardtestmeth-odsarerequiredtoevaluatewhethercandidaterobotsmeettheserequirements.1.1.5ASTMTaskGroupE54.08.01onRoboticsspecifiesamobilitytestsuite,whichconsistsofasetoftestmethodsforevaluatingthesemobilitycapabilityrequirements.Thiscon-finedareaterra...
