数据驱动的最优互惠避碰模型偏好速度研究

doi:10.16182/j.issn1004731x.joss.19-FZ0330

系统仿真学报 ›› 2019, Vol. 31 ›› Issue (12): 2731-2739.doi: 10.16182/j.issn1004731x.joss.19-FZ0330

数据驱动的最优互惠避碰模型偏好速度研究

王杰¹, 陈彬¹, 袁鹏², 马亮¹, 邱晓刚¹

1. 国防科技大学系统工程学院,湖南长沙 410073;
2. 海军902厂,上海 200083

收稿日期:2019-05-30 修回日期:2019-07-16 发布日期:2019-12-13
作者简介:王杰(1998-),男,湖北荆州,硕士生,研究方向系统仿真。
基金资助:
国家重点研发计划重点专项资金(2018YFC0806900), 国家自然科学基金(71673292, 71673294), 国家社会科学基金(17CGL047)

Study on Data-driven ORCA Preference Velocity

Wang Jie¹, Chen Bin¹, Yuan Peng², Ma Liang¹, Qiu Xiaogang¹

1. College of Systems Engineering, National University of Defense Technology, Changsha 410073, China;
2. Navy Factory 902, Shanghai 200083, China

Received:2019-05-30 Revised:2019-07-16 Published:2019-12-13

摘要/Abstract

摘要： 人群疏散是应急管理的重要内容。因经济、安全等原因,应急疏散演练不能够反复实施。而建模仿真具有成本低、高可重复性等显著性优点,没有真实演练的诸多限制。最优互惠避碰撞策略(Optimal Reciprocal Collision Avoidance, ORCA)是一种基于速度的避碰方法,具有精细的粒度,计算高效,被广泛地运用在机器人避障等领域中。尝试将ORCA引入人群疏散仿真中,并从最优偏好速度设置策略入手,用数据驱动的方式对不同类型速度策略下的ORCA进行了最优参数识别,从策略集中选出最优策略并确定了最优参数配置。

关键词: 人群疏散仿真, ORCA, 数据驱动, 差分进化算法

Abstract: Crowd evacuation is an important aspect of emergency management. Because of economic and safety reasons, emergency evacuation drill cannot be carried out repeatedly, however modeling and simulation has the obvious advantages of low cost, high repeatability, etc. Optimal Reciprocal Collision Avoidance (ORCA) is a velocity-based Collision Avoidance method, which has fine granularity and high computational efficiency, and is widely used in robot collision avoidance and other domains. In this paper, ORCA is introduced into crowd evacuation simulation, and the optimal parameters of ORCA under different kinds of speed strategies are identified by data-driven method. The optimal strategy is selected from the strategy set and its optimal parameter configuration is determined.

Key words: crowd evacuation simulation, ORCA model, data-driven, differential evolution algorithm

中图分类号:

TP391.9

王杰, 陈彬, 袁鹏, 马亮, 邱晓刚. 数据驱动的最优互惠避碰模型偏好速度研究[J]. 系统仿真学报, 2019, 31(12): 2731-2739.

Wang Jie, Chen Bin, Yuan Peng, Ma Liang, Qiu Xiaogang. Study on Data-driven ORCA Preference Velocity[J]. Journal of System Simulation, 2019, 31(12): 2731-2739.

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数据驱动的最优互惠避碰模型偏好速度研究

Study on Data-driven ORCA Preference Velocity

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