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 pla...
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| creator | ZHOU HUI FENG RUINAN XIONG AOXUE GUI MENGFAN YUAN HAILEI TENG HONGJING NA QINGQUAN |
| description | 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 |
| format | Patent |
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Under the</abstract><oa>free_for_read</oa></addata></record> |
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| subjects | GYROSCOPIC INSTRUMENTS MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER,MECHANICAL EFFICIENCY, OR FLUID PRESSURE NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS SURVEYING TESTING |
| title | Pedestrian navigation system based on ground touching mechanical feedback and walking trajectory tracking control method |
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