METHOD FOR PLANNING GAIT OF ULTRA-LARGE POLAR REGION SCIENTIFIC INVESTIGATION VEHICLE HAVING SIX CRAWLER FEET WHEN CROSSING SNOWBANK

摘要

A method for planning the gait of an ultra-large polar region scientific investigation vehicle having six crawler feet when crossing a snowbank, comprising the following steps: step 1, when a distance measuring sensor on a scientific investigation vehicle detects that a snowbank is present at the front, six crawler feet (6) all stop advancing, the whole scientific investigation vehicle remains still, and preparation for a snowbank crossing action is started; step 2, legs (3) are unfolded; step 3, the vehicle advances to cross the snowbank; and step 4, the legs (3) are withdrawn. When planning the gait during leg (3) unfolding and leg (3) withdrawing, the crawler feet (6) are continuously in contact with the surface of ice, thus preventing the problems of the severe deviation and tilting of a vehicle body when the scientific investigation vehicle crosses an obstacle, and ensuring that the ultra-large polar region scientific investigation vehicle having six crawler feet travels stably when crossing snowbanks and snow ridges in the Antarctic.