Accession Number : ADA184448

Title :   Stochastic Analysis for Navigation of Autonomous Platforms Using Range Finders.

Descriptive Note : Final rept.,

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

Personal Author(s) : Shen,C N

PDF Url : ADA184448

Report Date : Aug 1987

Pagination or Media Count : 22

Abstract : For range finders having noncooperative targets and considerable measurement errors, a stochastic analysis is necessary to determine the differentials such as the gradient of a terrain during navigation of navigation of an autonomous platform. The angular measurement errors in elevation or azimuth contribute a deteriorated effect of the gradient estimate, especially when the terror in target is far away. The smoothing of these gradients can be obtained by using an optimization method for approximation involving spline functions. This method can be applied to solve the following problem: whether the platform can climb on the estimated in-path slope or whether it will tip over on the estimated crosspath.

Descriptors :   *LASER TRACKING, *RANGE FINDING, *STOCHASTIC PROCESSES, DATA ACQUISITION, DECISION MAKING, PROBLEM SOLVING, VISION, AZIMUTH, ELEVATION, UNMANNED, PLATFORMS, TERRAIN, SPLINES, AUTONOMOUS NAVIGATION, MOBILE, ROBOTS

Subject Categories : Optical Detection and Detectors
      Statistics and Probability

Distribution Statement : APPROVED FOR PUBLIC RELEASE