I am working on 3 large pedestrian bridges over the Las Vegas strip. In looking at AASHTO, you'll find that the frequency limit is a form of equation 4.1 from the AISC "Floor Vibrations Due to Human Activity", by Allen and Murray. I would be cautious in applying the AASHTO formula directly, as it assumes only one person weighing 157 pounds to be walking on the bridge. If you are expecting dancing or rythmic excitation, you will have more problems. I would recommend looking at the AISC publication.