Checklist

HMGICS Driving Accuracy and Stability Test Plan

Basis: 2 different nodes, 5 repetitions per identical node | Narrow-space testing

Test cases

across 4 categories

Runs planned

from the plan sheet's repetitions

Runs prepared

113

over 15 test ids

Scheduled

7 Sept 2026

through 14 Sept 2026

Test plan

What is to be run, on which node, under which conditions, and what it has to hit to pass. Grouped by test item; anything a group shares is stated once above its table.

Stopping Accuracy

Straight-Node Stopping Accuracy

Stop at the designated node after a straight approach

Objective: Verify straight-node stopping accuracy and repeatability across different nodes
Measures: X error (mm), Y error (mm), heading error (deg), 3σ, success rate (%)

Date	Node	Reps	Planned	Acceptance criteria
7 Sept 2026	Node 1	5	5	X Error: ±45 mm or less Y Error: ±45 mm or less Heading Error: < 2° (Tag marker size: 4.5)
7 Sept 2026	Node 2	5	5	X Error: ±45 mm or less Y Error: ±45 mm or less Heading Error: < 2° (Tag marker size: 45 mm)

Curve-Node Stopping Accuracy

Enter curve → traverse curve → stop at designated node

Objective: Verify stopping accuracy across different curve radii and nodes
Measures: Stop-position error, heading error, overshoot occurrence, repeatability

Date	Node	Radius (m)	Reps	Planned	Acceptance criteria
7 Sept 2026	Node 3	1.0	5	5	X Error: ±45 mm or less Y Error: ±45 mm or less Heading Error: < 2° (Tag marker size: 45 mm)
7 Sept 2026	Node 4	1.0	5	5	X Error: ±45 mm or less Y Error: ±45 mm or less Heading Error: < 2° (Tag marker size: 45 mm)
7 Sept 2026	Node 5	1.5	5	5	X Error: ±45 mm or less Y Error: ±45 mm or less Heading Error: < 2° (Tag marker size: 45 mm)
7 Sept 2026	Node 6	1.5	5	5	X Error: ±45 mm or less Y Error: ±45 mm or less Heading Error: < 2° (Tag marker size: 45 mm)
7 Sept 2026	Node 7	2.0	5	5	X Error: ±45 mm or less Y Error: ±45 mm or less Heading Error: < 2° (Tag marker size: 45 mm)
7 Sept 2026	Node 8	2.0	5	5	X Error: ±45 mm or less Y Error: ±45 mm or less Heading Error: < 2° (Tag marker size: 45 mm)

Docking Accuracy

Dock after a curved approach

Objective: Verify curve-approach docking success and accuracy across different nodes
Measures: X error (mm), Y error (mm), heading error (deg), 3σ, success rate (%)

Date	Node	Yaw (°)	Reps	Planned	Acceptance criteria
7 Sept 2026	Node 9	80	5	5	Euclidean Error: < 5 mm Heading Error: < 1°
7 Sept 2026	Node 10	80	5	5	Euclidean Error: < 5 mm Heading Error: < 1°
7 Sept 2026	Node 9	90	5	5	Euclidean Error: < 5 mm Heading Error: < 1°
7 Sept 2026	Node 10	90	5	5	Euclidean Error: < 5 mm Heading Error: < 1°
7 Sept 2026	Node 9	100	5	5	Euclidean Error: < 5 mm Heading Error: < 1°
7 Sept 2026	Node 10	100	5	5	Euclidean Error: < 5 mm Heading Error: < 1°

Initial-Pose Convergence

Initial-Position Offset

Verify drivability after pure rotation

Objective: Verify MPPI convergence and drivability when the initial pose differs from the planner heading
Measures: Stop-and-Go Rotation Count; Continuous Rotation Status; Rotation Start Delay (s); Path Deviation (mm); Goal Reached

Date	Node	Yaw (°)	Reps	Planned	Acceptance criteria
7 Sept 2026	Node 11	45	3	3	PASS: Stop-and-Go Rotation Count = 0; continuous rotation until the target heading is reached; no repeated stopping/restarting; goal reached successfully.
11 Sept 2026	Node 11	60	3	3	PASS: Stop-and-Go Rotation Count = 0; continuous rotation until the target heading is reached; no repeated stopping/restarting; goal reached successfully.
11 Sept 2026	Node 11	75	3	3	PASS: Stop-and-Go Rotation Count = 0; continuous rotation until the target heading is reached; no repeated stopping/restarting; goal reached successfully.

Narrow Space

Travel Driving

Pass through narrow section with pallet assumption (Payload: 1 ton)

Objective: Verify safety and success rate for travel through a narrow space
Measures: Collision occurrence, driving success

Date	Node	Lateral clearance	Reps	Planned	Acceptance criteria
14 Sept 2026	Node 12	EVO worst-case condition: 1.95 m	5	5	Collision occurrence, driving success

Docking Driving

Dock in narrow section with pallet assumption (Payload: 1 ton)

Objective: Verify safety and success rate for docking in a narrow space
Measures: Collision occurrence, driving success

Date	Node	Lateral clearance	Reps	Planned	Acceptance criteria
14 Sept 2026	Node 13	EVO worst-case condition: 1.95 m	5	5	Collision occurrence, driving success

Result entry

The blank log the results go into, one line per test id. Nothing has been recorded yet, so this is the checklist itself rather than a report.

Blue text indicates on-site input fields. Position error is calculated automatically when X/Y errors are entered.

Recorded per run

X Error (mm)
Y Error (mm)
Position Error (mm)
Heading Error (deg)
Overshoot/Collision
Minimum Wall Distance (m)
Pass/Fail
Video/Log Link
Remarks

Stopping Accuracy

Test ID	Test item	Node	Radius (m)	Runs
SA-ST-N1	Straight-Node Stopping AccuracyStop at the designated node after a straight approach	Node 1	—	10
SA-ST-N2	Straight-Node Stopping AccuracyStop at the designated node after a straight approach	Node 2	—	10
SA-CV-R1p0-N1	Curve-Node Stopping AccuracyEnter curve → traverse curve → stop at designated node	Node 1	1.0	10
SA-CV-R1p0-N2	Curve-Node Stopping AccuracyEnter curve → traverse curve → stop at designated node	Node 2	1.0	10
SA-CV-R1p5-N1	Curve-Node Stopping AccuracyEnter curve → traverse curve → stop at designated node	Node 1	1.5	10
SA-CV-R1p5-N2	Curve-Node Stopping AccuracyEnter curve → traverse curve → stop at designated node	Node 2	1.5	10
SA-CV-R2p0-N1	Curve-Node Stopping AccuracyEnter curve → traverse curve → stop at designated node	Node 1	2.0	10
SA-CV-R2p0-N2	Curve-Node Stopping AccuracyEnter curve → traverse curve → stop at designated node	Node 2	2.0	10

Docking Accuracy

Test ID	Test item	Node	Runs
DA-N1	Docking AccuracyDock after a curved approach	Node 1	10
DA-N2	Docking AccuracyDock after a curved approach	Node 2	10

Narrow Space

Test ID	Test item	Node	Lateral clearance	Runs
NS-MOVE	Travel DrivingPass through narrow section	Applicable Section	Input required	5
NS-DOCK	Docking DrivingDock in narrow section	Applicable Docking Node	Input required	5

Initial-Pose Convergence

Test ID	Test item	Node	Yaw (°)	Runs	Remarks
OF-Y45	Initial-Position OffsetVerify drivability after pure rotation	Test Node	45	1	Repetition count not specified; template row
OF-Y60	Initial-Position OffsetVerify drivability after pure rotation	Test Node	60	1	Repetition count not specified; template row
OF-Y90	Initial-Position OffsetVerify drivability after pure rotation	Test Node	90	1	Repetition count not specified; template row

15 test ids, 113 runs prepared for entry. No result has been recorded yet.

Result summary

The workbook's tally, with the two counts it can be checked against beside it.

Category	Plan sheet	Entry log	Summary sheet	Pass rate
Stopping Accuracy	40	80	80	—
Docking Accuracy	30	20	20	—
Narrow Space	10	10	10	—
Initial-Pose Convergence	9	3	3	—
Total	89	113	113	—

Plan sheet is the repetitions the test plan asks for; Entry log is the blank rows the result sheet lays out; Summary sheet is the workbook's own planned figure, transcribed as it stands.

The three sources do not agree for Stopping Accuracy, Docking Accuracy, Initial-Pose Convergence. All three are shown as transcribed rather than reconciled — which one is current is the test team's to say.

Note: The number of repetitions for the initial-pose convergence test was not specified. One template row is provided for each Yaw condition. Copy the corresponding row in the Test Result Input sheet if additional repetitions are required.