The goal of the "TELEMAN 15 - A.N.B." project was to provide a controller component building block to facilitate and enhance the reliability of navigation of teleoperated vehicles used in nuclear environments. The project was explicitly restricted to vehicle control and environmental model management. Other aspects necessary in a complete mobile system such as manipulator control or sensor dependent data processing were to be incorporated from other TELEMAN projects later (see projects TM45 and TM50)
A controller component building block is being developed to facilitate and enhance the reliability of navigation of teleoperated vehicles used in nuclear environments.
The 4 modules for task scheduling, motion generation, perception processing, and security supervision have been built and integrated into the test vehicle. These modules brought extra capabilities to navigate the vehicle in unpredictable, cluttered environments, as follows:
navigation using high level commands under teleoperated control;
location of the vehicle with respect to its perceived environment;
real time planning of the most appropriate trajectory leading to the target;
monitoring and control of vehicle motion; %: detection and avoidance of unexpected obstacles;
protection from overhanging obstacles.
The assistant navigation block (ANB) is able to work under 6 modes of operation, with smooth path transition when changing between the following modes: basic teleoperation, preprogrammed motion, move to point, wall following and corridor centred motion, passing through doors, and rescue and recovery mode. The human operator has overruling capability at all times when the system is navigating autonomously. The incorporation of multisensor fusion also means that the system is robust to perception errors and sensor inaccuracies.
As well as being individually exploited by the project partners in their own commercial and research applications, the project results are being further developed and integrated in two TELEMAN research machine projects, the TM45- IMPACT light tracked inspection vehicle and the TM50 - MESSINA robust intervention multi-bodied vehicle. In TM45 -, the TM15 - A.N.B. concept is being applied to a much smaller vehicle, requiring miniaturisation of the hardware, and two versions are being developed, one for basic tele-operation and the other with advanced navigation aids. In TM50, the concept is being extended to a multi-bodied vehicle with many more degrees of freedom. These examples show how, because of its generic desing, the concept can be applied to a wide range of vehicles with different locomotion systems. An interim version was demonstrated at the Hannover Fair in April 1994.
Work to be done
"TELEMAN 15 - A.N.B." was to be structured in four units with clear division of responsibilities:
-the task scheduler, (FHGIPA)
-the movement generator, (ULB)
-the perception processing unit (Framatome) and
-the security supervisor (FHG-IPA)
The project was to proceed through the following steps:
-analysis of the user requirements and available hardware constraints with direct respect to the project goal;
-specification of the functions and interrelations between the four units;
-investigation and specification in detail of the approaches to be used, based on an incremental approach to handle the complexity;
-implementation of the units separately including unit tests;
-integration of the software on a dedicated computer, testing and validation of the software modules together;
-integration of the software and hardware on a test vehicle and
-demonstration of the system functioning in a realistic environment.
After testing of the individual units, the integrated system was to be fitted on the Framatome Frastar 2 mobile platform for testing in a realistic environment built at Equipos Nucleares.
Funding SchemeCSC - Cost-sharing contracts