激光三维扫描的人体局部运动规划研究

Research on human body local motion planning by laser 3D scanning

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。

For the high complexity and poor control performance of high-dimensional space of human body motion planning in 3D laser scanning,a new kind of laser 3D scanning local motion planning method is put forward in this paper. First construct partial body motion mathematical model through laser 3D scanning method,and then extract the posture feature information of human beings. Quickly control the constraint parameter of motion planning by random sampling method to realize the optimization control of local motion planning. Finally,the results of simulation performance testing show that this method has good controllability of human local motion planning and lower forecast error of motion posture parameter.