JC,
You have a couple of problems.
First, the shingles have to be removed by a
lic. Contractor, because you will never be able
to dump them on you own. If the shingles are still
fully intact there is no hazard, the best thing to
do is place vinal siding on your house. If the
shingles are looking bad get them off asap, espically
if you have young children. Asbestos removal
costs are run by two factors one, the labor to remove
the material, and then the very expensive dump
fee for the shingles.
Good Luck!