_STP_1594-2016.pdf

A STM INTERNATIONALSelect ed Technical PapersAutonomous Indust r ial Vehicles:F rom t he Labor atory to t he F actory FloorSTP1594Edit ors:Roger Bost elman Elena Messinawww.ast m.or g Copyright by ASTM Int l(all right s reserved);Tue May 16 20:41:07 EDT 2017Selected technical Pa PerSS tP1594Editors:Roger Bostelman,Elena MessinaAutonomous Industrial Vehicles:From the Labor atoryto the FactoryFloorASTM Stock#1594 DOI:10.1520/STP1594-EBASTM International,100 Barr Harbor Drive,PO Box C700,West Conshohock en,PA 19428-2959.Printed in the U.S.A.Copyright by ASTM Int l(a ll right s reserved);Tue May 16 20:41:07 EDT 2017Libr ary of Congr ess Cataloging-in-Publication DataNames:Bostelman,Roger,editor.|Messina,E.R.(Elena R.),editor.|ASTM International.Title:Autonomous industrial v ehicles:fr om the labor atory to the factory foor/editors,Roger Bostelman,Elena Messina.Description:West Conshohocken,PA:ASTM International,2016|Series:Selected technical papers;STP1594|Papers pr esented at a workshop held May 26-30,2015,in Seattle,Washington,USA.|“ASTM Stock#STP1594.”|“DOI:10.1520/STP1594-EB.”|Includes bibliogr aphical r efer ences.Identifers:LCCN 2015050464(print)|LCCN 2015051463(ebook)|ISBN 9780803176331(pbk.)|ISBN 9780803176348()Subjects:LCSH:Autonomous v ehiclesCongr esses.|Motor vehiclesAutomatic controlCongresses.|Intelligent contr ol systemsCongr esses.Classifcation:LCC TL152.8.A87 2016(print)|LCC TL152.8(ebook)|DDC 629.04/6-dc23LC r ecor d av ailable at http:/lccn.loc.gov/2015050464Copyright 2016 ASTM INTERNATIONAL,West Conshohocken,PA.All rights r eserved.This material may not be r epr oduced or copied,in whole or in part,in any printed,mechanical,electr onic,flm,or other distribution and stor age media,without the written consent of the publisher.Photocopy RightsAuthorization to photocopy items for internal,personal,or educational classr oom use,or the internal,personal,or educational classr oom use of specifc clients,is gr anted by ASTM International provided that the appr opriate fee is paid to the Copyright Clear ance Center,222 Rosewood Driv e,Danvers,MA 01923,Tel:(978)646-2600;http:/ Society is not r esponsible,as a body,for the statements and opinions expr essed in this publication.ASTM International does not endorse any pr oducts repr esented in this publication.Peer Review PolicyEach paper published in this v olume was evaluated by two peer r eviewers and at least one editor.The authors addr essed all of the r eviewers comments to the satisfaction of both the technical editor(s)and the ASTM International Committee on Publications.The quality of the papers in this publication r efects not only the obvious eforts of the authors and the technical editor(s),but also the work of the peer r eviewers.In keeping with long-standing publication practices,ASTM International maintains the anonymity of the peer reviewers.The ASTM International Committee on Publications acknowledges with appreciation their dedication and contribution of time and efort on behalf of ASTM International.Citation of PapersWhen citing papers f r om this publication,the appr opriate citation includes the paper authors,“paper title,”STP title,STP number,book editor(s),ASTM International,West Conshohock en,PA,y ear,page r ange,paper DOI listed in the footnote of the paper.A citation is pr ovided on page one of each paper.Printed in Bay Shor e,NY April,2016 Copyright by ASTM Int l(a ll right s reserved);Tue May 16 20:41:07 EDT 2017THIS COMPILATION OF Selected Technical Papers,STP1594,Autonomous In-dus trial Vehi cles:From the Labora tor y to the Fac tor y Floor,con ta ins peer-r eviewed papers that were pr esen ted at a wor kshop held May 2630,2015,in Seat tle,Wa sh-ington,USA.Te wor kshop was sponsor ed by ASTM In t ernational Commi t tee F45 on Driver less Au t omat ic G uided Industrial Vehicles.Wor kshop Chairper sons a nd STP Edi tor s:Rog er BostelmanElena Messina Na tional Ins titute s of Sta ndards and Te chnol ogyGa ithersburg,MD,USAForeword Copyright by ASTM Int l(a ll right s reserved);Tue May 16 20:41:07 EDT 2017 Copyright by ASTM Int l(a ll right s reserved);Tue May 16 20:41:07 EDT 2017vOv erview viiAcknowledgments xiTow ar ds Dev elopment of an Automated Guided Vehicle Intelligence Lev el Performance Standard 1Roger Bostelman and Elena MessinaPr eliminary Dev elopment of a Test Method for Obstacle Detection and Avoidance in Industrial Environments 23Adam Norton and Holly Yanco3D Sensors on Driverless Trucks for Detection of Overhanging Objects in the Pathw ay 41Klas Hedenber g and Bjrn str andMulti-A GV Systems in Shar ed Industrial Envir onments:A dv anced Sensing and Contr ol Techniques for Enhanced Safety and Impr oved Efciency 57Lor enzo Sabattini,Elena Car dar elli,Valerio Digani,Cristian Secchi,and Cesar e FantuzziThe Safety-to-Autonomy Curv e:An Incr emental Appr oach to Intr oducing Automation to the Workforce 82Daniel Theobald and Fr ederik HegerDynamic Metr ology Perf ormance Measur ement of a Six Degr ees-of-Fr eedom Trac