Pedestrian navigation system based on ground touching mechanical feedback and walking trajectory tracking control method

The invention discloses a pedestrian navigation system based on ground touching mechanical feedback and a walking trajectory tracking control method, the system comprises an environment information acquisition module, a positioning module, an environment perception and exploration module, a gait planning module and a force feedback control module, and the method comprises the following steps: acquiring an initial state and a termination state of a walking trajectory, constructing a discretization difference model of a human body walking kinematics model, performing optimal control on an initial state and a termination state which are obtained in real time, performing optimal solution by combining a target function and a constraint condition to obtain an optimal track of human body walking before the two states, and taking a solved optimal course angle as a control input sequence, and the driving force feedback controller tracks the optimal course angle and guides the pedestrian along a planned path. Under the