中文摘要：

To whom correspondence should be addressed. E-mail： zhanghdM51 @ gmail.com Zhang He, born in 1982. He is currently a Ph. D candidate in the State Key Laboratory of Robotics and System of Harbin Institute of Technology. He received his M. S. degree from Harbin Institute of Technology in 2008 and B. S. degree in Heilongjiang University in 2005 respectively. And his research interests include the mobile robot, etc.