基于可拓路径的密集人群环境通行策略

doi:10.11896/JsJkx.191100191

摘要/Abstract

摘要： 在密集人群环境中安全、高效地通行,是机器人在机场航站楼等场景中应用需要解决的关键问题,其难点在于适应行人行为的不确定性和由此带来的可行路径的多变性。借鉴人群中通行和避让的社会力模型,提出路径可拓观点和密集人群环境通行策略。首先,构建可拓路径模型,分析行人与机器人的时空关系,提取带有路径通过概率和可信度的可拓路径;其次,提出了距离凸包可拓路径集的选取方法,采用广度优先搜索法建立可拓路径集并去除冗余路径;最后,根据最优路径评价函数和路权规则,制定多种环境下的机器人通行策略。仿真结果表明,在密集人群环境中,所研究的策略可达到较高的通行效率。

关键词: 可拓路径, 可信度, 密集人群, 通过概率, 通行策略

Abstract: Safe and efficient traffic in dense crowd environments is an important issue to be solved for robots in applications such as airport terminals,etc.The difficulty lies in adapting to the uncertainty of pedestrian behavior and the variability of feasible paths.Referring the social force model of passage and avoidance in crowds,this paper proposed the path expandable view and the traffic strategy in dense crowd environments.Firstly,this paper built the expandable path model,analyzed the space-time relationship between pedestrians and robots,and extracted the expandable path with the path passage probability and credibility.Secondly,the distance convex hull method to select the expandable path set was proposed.On this basis,Breadth First Search was used to establish expandable path set and remove redundant paths.Finally,this paper formulated the traffic strategy of robots in various environments according to the optimal path evaluation function and the right of way rule.Simulation results show that the method can achieve higher traffic efficiency in dense crowd environments.

Key words: Credibility, Dense crowd, Expandable path, Passage probability, Traffic strategy

中图分类号:

TP242

高庆吉, 王闻博, 侯世昊, 邢志伟. 基于可拓路径的密集人群环境通行策略[J]. 计算机科学, 2020, 47(6A): 34-39. https://doi.org/10.11896/JsJkx.191100191

GAO Qing-Ji, WANG Wen-bo, HOU Shi-hao and XING Zhi-wei. Traffic Strategy in Dense Crowd Environments Based on Expandable Path[J]. Computer Science, 2020, 47(6A): 34-39. https://doi.org/10.11896/JsJkx.191100191

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