The algorithm uses an improved existence-probability-map-based circle/ellipse detection method and a hierarchical decision mechanism to reduce the effects of illumination variation and robot motion on obstacle recognition quality,which satisfies the needs of real-time obstacle negotiation of inspection robot.
In order to determine the feasibility of application of changing centre of mass to lunar rover with four wheels,based on theoretical analysis of surmounting obstacles capability of lunar rover,surmounting obstacles mathematics models of two front wheels,two rear wheels,single front wheel and single rear wheel have been established,then the relations between the height of obstacles the lunar rover can surmount and vehicle geometry parameters are given in these kind of conditions by solving them;
Ten participants completed 40 trials of obstacle crossing in 8 testing conditions.
Despite successful task performance, foot placement of the lead and trail limb before obstacle crossing and limb elevation over the obstacle were increased after withdrawal of vision in the approach area.
While both limbs require feedforward visual information to control the step over the obstacle, only lead limb elevation was influenced by availability of on-line visual information during obstacle crossing.
A comparison of foot placement data for this task indicated that while adults changed their gait patterns well in advance of obstacle crossing, children initiated M-L adjustments to gait patterns just prior to OBS crossing.
In the proposed method, the global navigation paths for robots are assumed to have already been planned without any static obstacle crossing their paths.
And a dynamic response experiment on elemental motions of robot prototype's travelling along non-obstacle straight-line segment and surmounting obstacles was performed on 220 kV 1:1 simulative overhanging transmission-line in laboratory.