Naive Bayes Entrapment Detection for Planetary Rovers

TL;DR

This paper introduces a Naive Bayes classifier-based method for detecting entrapment in planetary rovers, enabling autonomous rescue procedures, with experimental validation on AutoKralwer rovers.

Contribution

It formally defines entrapment criteria and proposes a Naive Bayes-based detection method, validated through experiments on planetary rover models.

Findings

Naive Bayes classifier effectively detects entrapment.

Experimental results demonstrate reliable detection performance.

Method supports autonomous rescue in planetary exploration.

Abstract

Entrapment detection is a prerequisite for planetary rovers to perform autonomous rescue procedure. In this study, rover entrapment and approximated entrapment criteria are formally defined. Entrapment detection using Naive Bayes classifiers is proposed and discussed along with results from experiments where the Naive Bayes entrapment detector is applied to AutoKralwer rovers. And final conclusions and further discussions are presented in the final section.