This appendix covers lateral guidance subsystem sensors, obstacle detector sensors, and processing, displays, and control. Microwave, acoustic, and optical sensing techniques were considered as part of the feasibility study for obstacle detection. Various guidance techniques, including wire-following and rib-ranging were investigated. Active optical sensing was selected for obstacle detection to obtain the beam coverage and sharp angular cutoff characteristics required within the packaging limitations defined by the shuttle car configuration. Rib-ranging guidance was selected to achieve a completely self-contained shuttle car system which responds to the existing mine geometry without need for wires, stripes, or other path-defining devices. The obstacle detection and guidance system was designed, fabricated, and installed on a standard shuttle car. The system satisfied all applicable permissibility requirements of schedule 2g. An experimental permit was issued to Bendix for operation in an underground coal mine.