Recursive Gradient Estimation Using Splines for Navigation of Autonomous Vehicles.

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.

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Document Details

Document Type
Technical Report
Publication Date
Jul 01, 1985
Accession Number
ADA159883

Entities

People

  • C. N. Shen

Organizations

  • United States Army Armament Research, Development and Engineering Center

Tags

Communities of Interest

  • Autonomy
  • Weapons Technologies

DTIC Thesaurus Topics

  • Algorithms
  • Applied Mathematics
  • Artificial Intelligence
  • Autonomous Navigation
  • Autonomous Vehicles
  • Computational Complexity
  • Computations
  • Coordinate Systems
  • Equations
  • Mathematical Filters
  • Military Research
  • Motion Planning
  • Observation
  • Polynomials
  • Simulations
  • Simultaneous Equations
  • Two Dimensional

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Approximation Theory.
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • Autonomy