Accession Number:

ADA183351

Title:

The C2 Continuity of Piecewise Cubic Hermite Polynomials with Unequal Intervals.

Descriptive Note:

Final rept.,

Corporate Author:

ARMY ARMAMENT RESEARCH, DEVELOPMENT AND ENGINEERING CENTER WATERVLIET NY BENET WEAPONS LAB

Personal Author(s):

• Shen,C. N.

Report Date:

1987-07-01

Pagination or Media Count:

19.0

Abstract:

Cubic hermite polynomials are usually C2 continuous. With the introduction of smoothing within the intervals, the second derivatives can be made continuous. This may be applied to the autonomous vehicle problem with unequal laser scanning. In using a laser range finder to measure the range, the direction of these laser rays can be subjected to angular errors. These errors, in the direction of the elevation angle, affect the determination of in-path slopes for navigation of autonomous vehicles. A nonuniform grid may be employed to compute by the spline function method with cubic hermite polynomials. For the purpose of smoothing, it is essential to obtain continuous second derivatives at the gird point from both sides. Keywords Spline functions Laser vision systems. Author

Descriptors:

• *RANGE FINDING
• *POLYNOMIALS
• *LASER APPLICATIONS
• ANGLES
• ELEVATION
• ERRORS
• FUNCTIONS(MATHEMATICS)
• GRIDS
• LASERS
• NAVIGATION
• NONUNIFORM
• OPTICAL SCANNING
• SPLINES
• VEHICLES
• VISION

Subject Categories:

• Numerical Mathematics
• Target Direction, Range and Position Finding
• Lasers and Masers

Distribution Statement:

APPROVED FOR PUBLIC RELEASE