Abstract
The overall scheme conducted for the design of a data acquisition and decision making system for an unmanned exploratory rover (Shen, 1975 ≈ 1980), consists of the following interrelated subsystems; scanning scheme (Shen, Kim, 1979), obstacle detection scheme (Sonalker, Shen, 1975; Kim, Shen, 1978), terrain slope estimation (Pawlowski, Shen, 1979) and path selection algorithm (Netch, 1977). In this paper, the slopes of a terrain are estimated by applying a two-dimensional smoothing algorithm (Kim, 1980) which fits two-dimensional smoothing splines to a data set in a recursive manner. A 2-D smoothing algorithm provides better estimates of the terrain slopes than the previous 1-D algorithm (Pawlowski, 1979). These improved estimates will enable the rover to determine a safer and more accurate path to its target.
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