Oilsands Tailings Characterization Using a Robotic System

One way in which robotic systems can be integrated into industrial operations is as part of ground surveys for environmental monitoring. In mining and other industrial plants that entail soil disturbance, methods are required to perform accurate and low-risk terrain characterization of what can be highly uncertain terrain, such as partially reclaimed oilsands tailings deposits. With good geotechnical characterization, earthmoving activities to place final reclamation material can be done with lower risk to people and equipment. The design and development of a robotic system capable of terrain characterization through sampling and mapping of unknown regions is presented. Two soil parameters, cohesion stress and internal friction angle, have been estimated based on a slip-based terramechanics model used for planetary exploration. The shear strength of the terrain can be calculated from these parameters in order to determine the trafficability of the terrain. The results from outdoor experiments show the feasibility of conducting ground surveys with robotic systems on soft ground.