摘要
Based on trajectory planning with maximum velocity and acceleration constraints, a novel high-quality trajectory planning method was proposed for heterogeneous individuals in crowd simulation. The proposed method ensured that the individual’s path was smooth and its velocity was continuous. Based on the physiological constraints of humans with maximum velocity and acceleration, time-optimal trajectory and feasible region were derived by solving kinodynamic planning problem. Subsequently, a high-quality trajectory planning algorithm was designed to compute the trajectory with appropriate variation of velocity. The simulation results demonstrate that the proposed trajectory planning method has more authenticities and can generate high-quality trajectories for virtual humans in crowd simulation.
基于具有最大速度和最大加速度约束的轨迹规划方法,针对人群仿真中的异质群体,提出一种新颖的高质量轨迹规划方法。该方法能够保证个体的运动路径是平滑的,个体的速度是连续的。考虑到真实人具有最大速度和最大加速度的生理学约束,本文首先推导出一种时间最优的轨迹和可行域来解决kinodynamic规划问题。随后,通过计算具有恰当速度多样性的轨迹设计出一种高质量的轨迹规划方法。仿真结果表明提出的轨迹规划方法具有更高的真实性,能够为人群仿真中的虚拟人提供高质量的运动轨迹。
作者
LI Meng
LI Shi-lei
GE Yuan-zheng
李猛;李石磊;葛渊峥(Army Academy of Artillery and Air Defense;Department of Information Security, Naval University of Engineering;Communication Countmeasure Department, Aviation University of the Air Force)
基金
Project(1708085QF158)supported by the Natural Science Foundation of Anhui Province,China
作者简介
Corresponding author:LI Meng,PhD,Lecturer;Tel:+86-17756003093;E-mail:mengshuqin1984@163.com;ORCID:0000-0002-0126-2411.
