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针对激光三维扫描中高维空间人体局部运动规划复杂度高、控制性能差等难题,提出了基于激光三维扫描的人体局部运动规划方法。该方法首先采用激光三维扫描方法构建人体局部运动数学模型,然后对人体的位姿特征信息进行提取,采用随机采样方法对运动规划约束参量进行快速控制,实现局部运动规划优化控制,最后通过仿真实验进行性能测试。结果表明,本文方法的人体局部运动规划控制性好,运动姿态参量的预测误差低。
In order to solve the problem of high complexity of local human motion planning and poor control performance in high-dimensional space of 3D laser scanning, a local human motion planning method based on 3D laser scanning is proposed. In this method, a laser three-dimensional scanning method is used to construct the mathematical model of human body locomotion, and then the pose feature information of the human body is extracted. The stochastic sampling method is used to control the motion planning constraints quickly to achieve the optimal control of local motion planning. Finally, Conduct performance testing. The results show that this method has good controllability of local motion planning and low prediction error of motion attitude parameters.