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Abstract: A type of four-link terrain perceptional mechanism, TTSMS,
is designed using the motion principle of four-link lever mechanism and
combing the characteristics of terrain environment of urban area and
building. Describing the principle and method of sensing terrain by
defining the convex-shape obstacle. It is capable of sensing the terrain
rapidly and reliably, not almost suffering from disturbance of real
world, and measuring the type of obstacles directly. The key problem of
perception of obstacle in real time for mobile robot moving in
three-dimensional terrain enuironment is resolved.
Key words: Mobile robot Terrain perception Obstacle negotiation
Terrain tentative sensing mechanism/sensor
CLC No: TP242
国家自然科学基金(69975014)和中科院沈阳自动化所机器人学开放研究实验室资助项目.
Received 20010814, received in revised form 20020515
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