The modern life under the law has occurred anxiety of unsureness life, so the spirits of modern law should turn to the humanism.
现代法律生活存在着可能生活的焦虑，因此现代法精神必须也必然应当进行人文向度上的变革。
2
It closely related with many complicated factors, such as usability, technology, economics, aesthetics, culture and ecology, and with considerable difficult of operation and unsureness in methods.
Chapter 4, according to the shortage of the algorithm provided in the chapter 3 and removing the influence of unsureness sensors information, a feasible mixed approach of path planning is discussed.