Designation:E2830−11StandardTestMethodforEvaluatingtheMobilityCapabilitiesofEmergencyResponseRobotsUsingTowingTasks:GraspedSleds1ThisstandardisissuedunderthefixeddesignationE2830;thenumberimmediatelyfollowingthedesignationindicatestheyearoforiginaladoptionor,inthecaseofrevision,theyearoflastrevision.Anumberinparenthesesindicatestheyearoflastreapproval.Asuperscriptepsilon(´)indicatesaneditorialchangesincethelastrevisionorreapproval.1.Scope1.1Purpose:1.1.1Thepurposeofthistestmethod,asapartofasuiteofmobilitytestmethods,istoquantitativelyevaluateateleoper-atedgroundrobot’stowingcapabilitywiththetaskofgraspingloadsandtraversingaspecifiedrouteonaflatandpavedsurface.1.1.2Robotsshallpossessacertainsetofmobilitycapabilities,includingtowing,tosuitcriticaloperationssuchasemergencyresponses.Thiscapabilitywouldberequiredtoperformsuchemergencyresponse-relatedtasksasdeliveringcriticalsupplies,movingvictimstosafelocations,ortransport-ingsuspectedpackagesawayfromhumans.1.1.3Emergencyresponsegroundrobotsshallbeabletohandlemanytypesofobstaclesandterrains.Therequiredmobilitycapabilitiesincludetraversinggaps,hurdles,stairs,slopes,varioustypesoffloorsurfacesorterrains,andconfinedpassageways.Yetadditionalmobilityrequirementsincludesustainedspeedsandtowingcapabilities.Standardtestmeth-odsarerequiredtoevaluatewhethercandidaterobotsmeettheserequirements.1.1.4ASTMTaskGroupE54.08.01specifiesamobilitytestsuite,whichconsistsofasetoftestmethodsforevaluatingthesemobilitycapabilityrequirements.Thistowing-by-graspingtestmethodisapartofthemobilitytestsuite.Theapparatusesassociatedwiththetestmethodschallengespecificrobotcapabilitiesinrepeatablewaystofacilitatecomparisonofdifferentrobotmodelsaswellasparticularconfigurationsofsimilarrobotmodels.1.1.5Thetestmethodsquantifyelementalmobilitycapa-bilitiesnecessaryforgroundrobotemergencyresponseappli-cations.Assuch,thetestsuiteshouldbeusedcollectivelytorepresentagroundrobot’soverallmobilityperformance.NOTE1—Additionaltestmethodswithinthesuiteareantic...
