Abstract：
This paper introduces a walking path generation method specifically developed for the Smart Cane, which is a RNA (Robotic Navigation Assistance Device) aimed at enhancing indoor navigation for visually impaired individuals. The proposed approach combines the utilization of a LIPM (Linear Inverse Pendulum Model) and LFPC (Linear Foot Placement Controller) motion primitives to generate walking paths specifically designed for visually impaired individuals. The primary objective is to generate paths that conform to human motion constraints, thereby guaranteeing an efficient and natural navigation experience. Integrating autonomous navigation framework, the Smart Cane facilitates safe and effective guidance for visually impaired participants in the indoor environments. Furthermore, comparative experiments have been conducted to validate the effectiveness of the proposed method, providing evidence of its capability to generate walking paths that conform to human motion constraints. The experiment results indicate that the proposed walking path generation method is a promising solution to enhance the navigation experience of visually impaired individuals.
摘要：
本文介绍了一种专门为智能甘蔗开发的步行路径生成方法，这是一种RNA（机器人导航辅助设备），旨在增强视觉受损个体的室内导航。所提出的方法结合了LIPM（线性反摆模型）和LFPC（线性脚踏放置控制器）运动基元的利用，以生成专门为视力受损的个人设计的步行路径。主要目标是生成符合人类运动约束的路径，从而保证高效和自然的导航体验。集成自主导航框架，智能甘蔗为室内环境中的视障参与者提供安全有效的指导。此外，通过对比实验验证了该方法的有效性,提供证据证明其能够生成符合人体运动约束的步行路径。实验结果表明，所提出的步行路径生成方法是一种有前途的解决方案，可以增强视障人士的导航体验。
