5.1 The significance of the information to be recorded in a test report allows for A-UGV performance to be contextualized with A-UGV configuration.

5.2 Limitations of the practice are that not all A-UGVs have the same capabilities or configuration parameters. For example, for capabilities, a vehicle that remaps during navigation versus another vehicle that uses a static map may behave differently in repeated runs of an obstacle avoidance test. For configuration, a vehicle that remaps during navigation may have varying times that obstacles remain in the map for test recreation.

5.3 The environment map used by the A-UGV, developed through localization including any landmarks, shall be saved as used on the A-UGV and should be saved and provided as a human-readable layout on or off the A-UGV (see Appendix X1 showing a sample layout drawing).

5.4 The main A-UGV hardware parameters shall be recorded as follows:

5.4.1 Make and Model

5.4.2 Part Number

5.4.3 Serial Number

5.4.4 Hardware Revision number (if any)

5.4.5 Number of drive/steer wheels

5.4.6 Steering type

5.4.7 Type: for example, Fork, Tugger, Unit Load, Cart

5.4.8 Loaded/Unloaded

5.5 The main A-UGV software parameters shall be recorded as follows:

5.5.1 All applicable software and firmware versions.

5.5.2 Velocity - translation and rotation, minimum/maximum.

5.5.3 Acceleration - translation and rotation, minimum/maximum.

5.5.4 Stand-off distances - safety sensor thresholds, obstacle avoidance thresholds.

5.6 The context for the test shall be recorded by providing detailed answers to the following questions:

5.6.1 When are the various software configurations used during the test? For example, two software versions may be required as follows: Use configuration A for straight aisles and configuration B for turns.

5.6.2 What other hardware and software parameters/settings are required to recreate the A-UGV behavior (that is, attached debug, settings, or other files)?

5.6.3 What is the A-UGV layout that is saved and used on the vehicle and, if possible, saved and provided as a human-readable version?

5.6.4 Are there constraints that the requestor has placed on the A-UGV? Examples may include the following:

5.6.4.1 generic test environment: for example, outdoors or indoors, day or night, defined or undefined test areas?

5.6.4.2 velocity and acceleration that are below the maximum capability?

5.6.4.3 clearances between the A-UGV and an obstacle during obstacle avoidance maneuvering?

5.6.4.4 negative obstacle measurement capability enabled?

5.6.4.5 choose its own path or is required to use a preferred path?

5.7 Higher-level categories of A-UGV capabilities shall be recorded as follows:

5.7.1 Localization method: for example, natural features, reflective markers, tape on ground, matrix barcodes/visual fiducial system, lights in ceiling.

5.7.2 Safety-rated equipment: for example, scanning lasers and their make and model numbers; other functions of safety sensors.

5.7.3 Other sensors used: for example, cameras, including their make and model numbers, and image processing software used for path planning.

5.7.4 Added equipment for A-UGV testing: for example, cameras, including their make and model numbers, and image processing software used for capturing docking performance.