Optimal Acceleration-Velocity-Bounded Trajectory Planning in Dynamic Crowd Simulation

IF 1.2 Q2 MATHEMATICS, APPLIED
Yue-wen Fu, Li Meng, Jia-hong Liang, Xiao-qian Hu
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引用次数: 0

Abstract

Creating complex and realistic crowd behaviors, such as pedestrian navigation behavior with dynamic obstacles, is a difficult and time consuming task. In this paper, we study one special type of crowd which is composed of urgent individuals, normal individuals, and normal groups. We use three steps to construct the crowd simulation in dynamic environment. The first one is that the urgent individuals move forward along a given path around dynamic obstacles and other crowd members. An optimal acceleration-velocity-bounded trajectory planning method is utilized to model their behaviors, which ensures that the durations of the generated trajectories are minimal and the urgent individuals are collision-free with dynamic obstacles (e.g., dynamic vehicles). In the second step, a pushing model is adopted to simulate the interactions between urgent members and normal ones, which ensures that the computational cost of the optimal trajectory planning is acceptable. The third step is obligated to imitate the interactions among normal members using collision avoidance behavior and flocking behavior. Various simulation results demonstrate that these three steps give realistic crowd phenomenon just like the real world.
动态人群仿真中最优加速度-速度有界轨迹规划
创建复杂而真实的人群行为,例如具有动态障碍物的行人导航行为,是一项困难且耗时的任务。本文研究了一类由紧急个体、正常个体和正常群体组成的特殊群体。采用三步法构建动态环境下的人群仿真。第一个是紧急个体沿着给定的路径前进,绕过动态障碍物和其他人群成员。采用最优加速度-速度有界轨迹规划方法对其行为进行建模,保证生成的轨迹持续时间最短,且紧急个体不与动态障碍物(如动态车辆)发生碰撞。第二步,采用推入模型模拟紧急成员与正常成员之间的相互作用,确保最优轨迹规划的计算成本在可接受范围内。第三步是利用避碰行为和群集行为模拟正常成员之间的相互作用。各种仿真结果表明,这三个步骤给出了与现实世界相似的真实人群现象。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
Journal of Applied Mathematics
Journal of Applied Mathematics MATHEMATICS, APPLIED-
CiteScore
2.70
自引率
0.00%
发文量
58
审稿时长
3.2 months
期刊介绍: Journal of Applied Mathematics is a refereed journal devoted to the publication of original research papers and review articles in all areas of applied, computational, and industrial mathematics.
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