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DEVELOPMENT OF ROBOTIC SYSTEM

INTRODUCTION In this paper we present an innovative design of a robotic system developed for the installation of magnetic markers into the roadway pavement. These magnetic markers are used to provide reference signals for the guidance and control of vehicles on the roadway in an Intelligent Transportation Systems (ITS) environment. Two important aspects of much of current research in developing ITS technologies are improving safety and mobility on the nation's highways. Harsh winter environments provide some of the toughest challenges to mobility and safety on the roadways. In bad weather conditions, snow covers roadway markings and edges producing the so-called " white-out " conditions causing cross-lane and runoff-the-road crashes. Although the roadways can be blocked for the general public during such white-out conditions, snowplow operators have to work in such conditions to clear the snow off the roadway. To respond to this situation, several research teams have recently been working on developing an ITS solution to the snow plow operations. These include the work at the University of Minnesota in conjunction with the Minnesota Department of Transportation and others and our work within the Advanced Highway Maintenance and Construction Technology (AHMCT) research center at UC—Davis. This latter work is being performed in collaboration with the California Department of Transportation (Caltrans) and the PATH (Partners for Advanced Transit and Highways)program at UC—Berkeley. The snowplow work in California, to date, has focused on using magnetic reference markers on the roadway pavement to provide the necessary reference signal for driver assistance and vehicle guidance. The use of magnetic reference markers on the roadway surface has also been demonstrated for automatic control of vehicle during the national Automated Highway System Consortium (NAHSC) demonstrations in San Diego, California in 1997. Installation of the magnetic markers into the roadway pavement, however, is a tedious manual operation. In this paper, we present the mechanical design of a robotic system that is under