Control of a self guided tracked vehicle for hazardous waste removal using GPS positioning and ultrasonic collision avoidance
- RSI Research Ltd., Victoria, British Columbia (Canada)
- Spar Aerospace Ltd., Brampton, Ontario (Canada)
- Lockheed Martin Idaho Technologies Company, Idaho Falls, ID (United States)
In 1994 a large hydraulic telerobotic tracked transport vehicle (TTV) was built for Lockheed Idaho Technologies by a team of companies consisting of RAHCO International of Spokane, Spar Aerospace of Toronto and RSI Research of Victoria. The TTV was developed as a part of the Department of Energy`s Buried Waste Integrated Demonstration Program to transport low level transuranic waste in a safe, dust-free manner minimizing the potential spread of airborne contaminants. The TTV was controlled from a remote control station by an operator relying on video and sensor feedback. This paper describes the control system of SGTV, a self guided version of the TTV developed in 1995 to travel autonomously between loading and off-loading points while automatically avoiding obstacles in its path. Self-guidance is divided between a supervisory Mission Planning and Control computer (WC) and an on-board system of five networked computers.
- OSTI ID:
- 476519
- Report Number(s):
- CONF-960804-Vol.3; TRN: 97:009060
- Resource Relation:
- Conference: SPECTRUM `96: international conference on nuclear and hazardous waste management, Seattle, WA (United States), 18-23 Aug 1996; Other Information: PBD: 1996; Related Information: Is Part Of Proceedings of the international topical meeting on nuclear and hazardous waste management (SPECTRM `96): Volume 3; PB: 843 p.
- Country of Publication:
- United States
- Language:
- English
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