ISO 18646-2-2024 PDF

Full title and description

St ISO 18646-2-2024 — Robotics — Performance criteria and related test methods for service robots — Part 2: Navigation. This standard specifies methods for describing and evaluating the navigation performance of mobile service robots, including metrics and test procedures for pose accuracy, repeatability, obstacle detection and avoidance, path following and mapping accuracy in primarily indoor environments.

Abstract

This part of ISO 18646 provides standardized performance criteria and associated test methods to quantify navigation capability of mobile service robots. It defines measurable attributes (pose accuracy and repeatability, path deviation, narrow passage negotiation, obstacle detection/avoidance, and mapping accuracy), describes test setups and procedures, and gives guidance on reporting results. The document applies to mobile platforms that remain in contact with the travel surface and is intended to promote repeatable, comparable evaluations between manufacturers, integrators and test laboratories. It is not a safety standard and does not define safety requirements or safety verification procedures.

General information

• Status: Published
• Publication date: 22 January 2024
• Publisher: International Organization for Standardization (ISO)
• ICS / categories: 25.040.30 (Industrial robots; manipulators)
• Edition / version: Edition 2 (2024)
• Number of pages: 24

Scope

Defines test methods and performance metrics to specify and evaluate navigation performance of mobile service robots operating primarily in indoor environments. The scope covers mobile platforms that are in contact with the travel surface and excludes manipulator performance (covered by ISO 9283) and the verification of safety requirements. While focused on indoor tests, certain methods and test setups are described that can be adapted for outdoor use (informative guidance provided in an annex).

Key topics and requirements

• Definitions and terminology for navigation-related performance attributes.
• Pose (position and orientation) accuracy and repeatability measurement methods.
• Path following and path deviation tests, including straight-line and curved trajectories.
• Obstacle detection and avoidance tests (static and dynamic obstacles) and measures of success/failure.
• Narrow passage and confined-space negotiation procedures and acceptance criteria.
• Mapping accuracy and map quality evaluation, including reference mapping procedures and error metrics.
• Test environment, surface and lighting conditions, and recommended instrumentation for measurements.
• Reporting format and presentation of results to enable comparison between systems.

Typical use and users

This standard is used by robot manufacturers for product development and performance claims, by independent test laboratories for objective benchmarking, by systems integrators for acceptance testing, and by researchers assessing navigation algorithms and sensor suites. It is also useful to procurement teams and certification bodies that require repeatable, comparable navigation performance data for selection and evaluation of mobile service robots.

Related standards

ISO 18646-2 is part of the ISO 18646 series on service robot performance and test methods. Relevant related documents include ISO 18646-1 (Locomotion for wheeled robots), ISO 18646-3 (Manipulation), ISO 18646-4 (Lower-back support robots) and ISO 9283 (Manipulator performance). Other robotics and safety standards (for example ISO 8373 and ISO 10218 family) may be relevant when integrating navigation performance results with system-level safety or functional requirements.

Keywords

navigation; mobile service robot; pose accuracy; repeatability; path following; obstacle avoidance; mapping accuracy; test methods; performance criteria; ISO 18646

FAQ

Q: What is this standard?

A: ISO 18646-2:2024 is the second edition (2024) of the part of the ISO 18646 series that defines performance criteria and test methods specifically for navigation of mobile service robots.

Q: What does it cover?

A: It covers measurable navigation attributes (pose accuracy and repeatability, path deviation, obstacle detection/avoidance, narrow passage negotiation and mapping accuracy), test setups and procedures, and reporting conventions for indoor mobile platforms that travel in contact with the surface.

Q: Who typically uses it?

A: Robot manufacturers, independent test laboratories, integrators, research groups and procurement or certification bodies use it to develop, evaluate and compare navigation performance.

Q: Is it current or superseded?

A: This document is the current (2024) edition and replaces the previous edition of ISO 18646-2 (2019). It should be treated as the authoritative edition for navigation test methods unless a newer revision is published after 22 January 2024.

Q: Is it part of a series?

A: Yes. ISO 18646 is a multi-part series addressing performance criteria and test methods for different aspects of service robots (locomotion, navigation, manipulation, lower-back support robots, etc.). ISO 18646-2 is Part 2 (navigation) of that series.

Q: What are the key keywords?

A: Navigation, pose accuracy, repeatability, obstacle avoidance, mapping accuracy, path deviation, mobile service robot, test methods.