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Proceedings Paper

Teleoperation of an experimental mobile vehicle via a free-space optical laser line-of-sight communication link for use in nuclear power plant environments
Author(s): Khalid Girach; K. Bouazza-Marouf; David Kerr; Jim Hewit
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Paper Abstract

The paper describes the investigations carried out to implement a line of sight control and communication link for a mobile robot vehicle for use in structured nuclear semi-hazardous environments. Line of sight free space optical laser communication links for remote teleoperation have important applications in hazardous environments. They have certain advantages over radio/microwave links and umbilical control such as greater protection against generation of and susceptance to electro-magnetic fields. The cable-less environment provides increased integrity and mechanical freedom to the mobile robot. However, to maintain the communication link, continuous point and tracking is required between the base station and the mobile vehicle. This paper presents a novel two ended optical tracking system utilizing the communication laser beams and photodetectors. The mobile robot is a six wheel drive vehicle with a manipulator arm which can operate in a variety of terrain. The operator obtains visual feedback information from cameras placed on the vehicle. From this information, the speed and direction of the vehicle can be controlled from a joystick panel. We describe the investigations carried out for the communication of analogue video and digital data signals over the laser link for speed and direction control.

Paper Details

Date Published: 9 November 1994
PDF: 12 pages
Proc. SPIE 2247, Sensors and Control for Automation, (9 November 1994); doi: 10.1117/12.193947
Show Author Affiliations
Khalid Girach, Loughborough Univ. of Technology (United Kingdom)
K. Bouazza-Marouf, Loughborough Univ. of Technology (United Kingdom)
David Kerr, Loughborough Univ. of Technology (United Kingdom)
Jim Hewit, Univ. of Dundee (United Kingdom)

Published in SPIE Proceedings Vol. 2247:
Sensors and Control for Automation
Markus Becker; R. W. Daniel; Otmar Loffeld, Editor(s)

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