Accession Number:

ADA159883

Title:

Recursive Gradient Estimation Using Splines for Navigation of Autonomous Vehicles.

Descriptive Note:

Final technical rept.,

Corporate Author:

ARMY ARMAMENT RESEARCH AND DEVELOPMENT CENTER WATERVLIET NY LARGE CALIBER WEAPON SYSTEMS LAB

Personal Author(s):

• Shen,C. N.

Report Date:

1985-07-01

Pagination or Media Count:

44.0

Abstract:

Terrain gradient estimation is needed for navigation of an autonomous vehicle in climbing the hills. The in-path and cross-path terrain slopes are estimated from the set of corresponding range slopes. A two-dimensional recursive smoothing algorithm using polynomial splines in the third dimension is developed for this purpose. Approximations are introduced in the sub-optimal system so that the computation time increases only linearly with the size of the two-dimensional data.

Descriptors:

• *ROBOTICS
• *RECURSIVE FILTERS
• *APPROXIMATION(MATHEMATICS)
• *RANGE FINDING
• *SURFACE NAVIGATION
• IMAGE PROCESSING
• TWO DIMENSIONAL
• ONE DIMENSIONAL
• ROBOTS
• KALMAN FILTERING
• TERRAIN
• LASERS
• ESTIMATES
• VARIABLES
• THREE DIMENSIONAL
• LEAST SQUARES METHOD
• VEHICLES
• GRADIENTS
• IMAGE RESTORATION
• SPLINES(GEOMETRY)
• LASER TRACKING

Subject Categories:

• Bionics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE