The Transfer Cask System(TCS) is one of the remote handling systems that will operate in ITER, transporting heavy and highly activated in-vessel components between the Tokamak Building and the Hot Cell Building. A motion planning methodology for the TCS was developed, providing smooth paths that maximize the clearance to obstacles and that incorporate manoeuvres whenever necessary. This paper presents the results of the TCS planning algorithm with trajectories computed for nominal operations. The length of the journey, the velocity, the time duration, and the risk of collision were evaluated individually for each trajectory. A summary of all results, conclusions and future work are presented and discussed.
Abstract-Rhombic like vehicles are characterized for high maneuverability in cluttered environments. This type of vehicles will be used on remote handling operations of maintenance in the International Thermonuclear Experimental Reactor (ITER). Previous work was done in motion planning using Constrained Delaunay Triangulation for rhombic like vehicles operating in ITER. This paper shows that the integration of Fast Marching Square improves the motion planning methodology, decreasing also the computational effort, which can be applied not only in ITER but also in other complex and cluttered environments. Simulated results are presented comparing the initial and the improved motion planning.
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