A stochastic analysis of terrain evaluation variables for path selectionA stochastic analysis was performed on the variables associated with the characteristics of the terrain encountered by a roving system with an autonomous navigation system. A laser rangefinder is employed to detect terrain features at ranges up to 75 m. Analytic expressions and a numerical scheme were developed to calculate the variance of data on these four variables: (1) body clearance, (2) in-path slope, (3) tilt slope, and (4) wheel deviation. The variance is due to noise in the range data. It was found that the standard deviation of these terrain variables is large enough to warrant the use of a safety margin to aid the roving vehicle in avoiding high risk areas.
Document ID
19790039786
Acquisition Source
Legacy CDMS
Document Type
Conference Proceedings
Authors
Donohue, J. G. (Rensselaer Polytechnic Inst. Troy, NY, United States)
Shen, C. N. (Rensselaer Polytechnic Institute, Troy, N.Y., United States)