K-means clustering-spiral searching model to solve the rough or accurate obstacle avoidance

Solving the problem of obstacle avoidance with K-means clustering analysis method is discussed in this paper. Firstly, applying the MATLAB to read digital elevation a few kilometers away from the lunar surface, and obtaining the elevation matrix of all points. Then the different heights of points into four grays for different shades are classified with K-means clustering analysis method. Finally, a safe landing area (coordinates, radius and velocity increment) is determined with clockwise spiral forward searching method starting from the landing center.