虚拟行人仿真最低能耗动态避障

Less-Effort Collision Avoidance for Virtual Pedestrian

虚拟行人仿真动态避障算法设计直接影响了仿真效果的真实性与科学性.大部分基于速度障碍的动态避障方法假定场景中的所有个体按照相同的避碰策略调整速度大小和方向.为提升虚拟行人仿真中局部动态避碰的真实性,本文对经典的底层分布式动态障算法ORCA中使用调节系数以区分不同行人的避障策略,同时引入行人瞬间能耗的概念,讨论行人在局部避碰过程中的能量消耗与速度变化之间的关系,在改进ORCA算法得到的可行速度域基础上使用线性规划的高效解法得到虚拟行人仿真的最低能耗避障速度.实验结果表明本文方法可以提升动态避障的仿真效率,计算性能也满足实时仿真的要求.

Real-time multi-agent collision avoidance for large environments with hundreds or thousands of agents need powerful collision avoidance module.Most velocity-obstacles-based method for collision avoidance assume that every agent share the same responsibility to adjust their velocity to avoid potential collision.In order to improve the quality of dynamic collision avoidance for virtual pedestrian simulation,this study uses adjustment factor to distinguish the strategies of different type of pedestrian.And we introduce the less-effort to discuss the relationship between the velocity change and instantaneous energy consumption during dynamic collision avoidance.At last,we use linear programming to choose the best velocity from feasible velocity constructed by the improved ORCA algorithm.The experiment result shows that our method can improve the simulation efficiency of dynamic collision avoidance for large-scale crowd simulation,and the performance also meets the requirements of real-time simulation.