The traversability analysis for coal mine mobile robot based on rough sets
Guoliang Li, Rui Qi Song, Chao Chen, Yibin Li, Chengjin Zhang · 2013
Aiming at recognizing the complex terrain of coal mines, in order to perform path planning and safe navigation, the first thing is to solve the problem of traversability analysis for coal mine exploring robots. This paper designed a model for traversability analysis on uneven terrain based on rough sets. By comprehensively analyzing the terrain features and classification features etc., this model described the traversability for exploring robots by traversability cost. Instance data proves the effectiveness of the algorithm, the analysis results show that the algorithm can effectively deal with the terrain data under the unstructured environment, provide reliable navigation decision rules for the robot.