Shepherd Rotary Vehicle: Multivariate Motion Control and Planning

Millions of acres of the U.S. formerly used defense sites (FUDS) are contaminated with unexploded ordnance (UXO) as a result of past military use. The process of returning the land to the civilian sector is sensitive, intensive, and costly (e.g., millions of dollars, and the loss of human life). Hence'clearing (i.e., site remediation, range clearance, and explosive ordnance disposal) UXO's from FUDS is a complex problem. Existing clearing methods are inaccurate, dangerous, and labor intensive. This thesis shows that through robotics technology (e.g., Shepherd rotary vehicle with three degrees of freedom) and the use of advanced computer technology it is possible to make clearing tasks safer, more cost effective, and more efficient. An over arching hardware and software architecture was developed for Shepherd (including a self-contained on board computer system). The software system was developed for timer control, motion control, user interface, and an operating kernel. The hardware and software organization, structure, and interaction provide the framework for real-time control. This research included the use of encoders, digital boards, and a counter board; required the handling of interrupts, electric motor manipulation by servomotor controllers, and communication using RS232 and VMEbus technology. The kinematics algorithms and a real-time operating kernel were implemented using the C language. Shepherd research has laid the foundation for the flexible, robust, and precise motion needed for UXO clearing.