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A global path planning algorithm based on rough sets theory

This paper presents a path planning algorithm based on rough sets theory. The algorithm uses the grid method to establish environmental model and applies the method of adding auxiliary grids in the border zone and vertex zone to use rough sets reduction rule for deriving the basic movement rules of robot. Moreover, based on the basic movement rules, auxiliary rules are presented to complete the movement rules, which are of great use in the path planning of the robot. So the algorithm greatly improved the efficiency of path planning. Experimental results show the feasibility and high effectiveness of this algorithm in path planning for mobile robot.