基于多目标遗传算法的虚拟人作业姿态仿真
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摘要
针对虚拟人作业姿态仿真操作复杂和仿真所得姿态逼真性不足的问题,提出一种基于多目标遗传算法的虚拟人作业姿态仿真方法。建立了作业环境中虚拟人的人机因素目标函数与姿态参数的映射关系,在此基础上构建了面向虚拟人作业姿态仿真的多目标优化问题。通过多目标遗传算法计算得出该虚拟人作业姿态参数优化问题的Pareto最优解集,根据各人机因素权重对解集排序并挑选最优值对应的姿态参数方案作为最佳姿态解。仿真结果表明,该方法可以生成自然逼真的虚拟人作业姿态,在多样化的作业环境下表现出良好的适用性。
Aiming at the problem that the working posture of virtual human was complicated to simulate and lacked verisimilitude,a working posture simulation method for virtual human based on multi-objective genetic algorithm was presented.Based on the mapping relationships between objective functions of ergonomic factors and working posture parameters,the multi-objective optimization problem of working posture simulation for virtual human was established.The multi-objective genetic algorithm was adopted to solve this optimization problem and obtain the Pareto optimal solutions.The optimal solutions were sorted by the weight of each ergonomic factor to find the most appropriate posture parameters.Case studies showed that the proposed method could generate realistic working posture of virtual human and has good adaptability in a variety of virtual environments.
Aiming at the problem that the working posture of virtual human was complicated to simulate and lacked verisimilitude,a working posture simulation method for virtual human based on multi-objective genetic algorithm was presented.Based on the mapping relationships between objective functions of ergonomic factors and working posture parameters,the multi-objective optimization problem of working posture simulation for virtual human was established.The multi-objective genetic algorithm was adopted to solve this optimization problem and obtain the Pareto optimal solutions.The optimal solutions were sorted by the weight of each ergonomic factor to find the most appropriate posture parameters.Case studies showed that the proposed method could generate realistic working posture of virtual human and has good adaptability in a variety of virtual environments.
引文
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[10]KUO C F,WANG M J.Motion generation from MTM semantics[J].Computers in Industry,2009,60(5):339-348.
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[13]WANG Zhaohui,CHEN Ken,ZHU Xinxiong.Automatic optimization model for virtual human's working behaviors[J].Journal of Software,2012,23(9):2358-2373(in Chinese).[王朝晖,陈恳,朱心雄.一种虚拟人作业行为的自主优化模型[J].软件学报,2012,23(9):2358-2373.]
[14]WANG Zhaohui,ZHENG Guolei,ZHU Xinxiong.Multi-agent based ergonomic simulation and design system[J].Journal of Engineering Graphics,2010,31(6):133-138(in Chinese).[王朝晖,郑国磊,朱心雄.基于Multi-Agent的人机环境仿真设计系统[J].工程图学学报,2010,31(6):133-138.]
[15]QIU S,HE Q,FAN X,et al.Virtual human hybrid control in virtual assembly and maintenance simulation[J].International Journal of Production Research,2014,52(3):867-887.
[16]DEB K,PRATAP A,AGARWAL S,et al.A fast and elitist multiobjective genetic algorithm:NSGA-Ⅱ[J].IEEE Transactions on Evolutionary Computation,2002,6(2):182-197.
[17]WEI Wei,TAN Jianrong,FENG Yixiong,et al.Multi-objective configuration optimization of modularized product based on NSGA-Ⅱ[J].Computer Integrated Manufacturing Systems,2007,13(11):2092-2098(in Chinese).[魏巍,谭建荣,冯毅雄,等.基于改进的非支配排序遗传算法的模块化产品多目标配置优化研究[J].计算机集成制造系统,2007,13(11):2092-2098.]
[18]WEI Tian,FAN Wenhui.Modified NSGAⅡalgorithm for vehicle routing problem in logistics[J].Computer Integrated Manufacturing Systems,2008,14(4):778-784(in Chinese).[卫田,范文慧.基于NSGAⅡ的物流配送中车辆路径问题研究[J].计算机集成制造系统,2008,14(4):778-784.]
[19]CAI Zixing,XIE Bin.Robotics[M].Beijing:Tsinghua University Press,2015:35-74(in Chinese).[蔡自兴,谢斌.机器人学[M].北京:清华大学出版社,2015:35-74.]
[20]LUO Jianxin.Sports Biomechanics[M].Beijing:Beijing Normal University Press,2010:181-225(in Chinese).[罗建新.运动生物力学[M].北京:北京师范大学出版社,2010:181-225.]
[21]DONG Ying,LIU Huanjie,XU Baodong,et al.A modified genetic algorithm based on real-coding[J].Journal of Northeastern University:Natural Science,2005(4):321-323(in Chinese).[董颖,刘欢杰,许宝栋,等.一种基于实数编码的改进遗传算法[J].东北大学学报:自然科学版,2005(4):321-323.]
[22]ZHANG Gang,YIN Guofu,DENG Kewen,et al.Modified real-coded genetic algorithm and its application to layout design[J].Computer Integrated Manufacturing Systems,2005,11(10):1451-1455(in Chinese).[张刚,殷国富,邓克文,等.改进的实数编码遗传算法在产品布局设计中的应用[J].计算机集成制造系统,2005,11(10):1451-1455.]
[23]GUAN Shouping,ZHANG Yanrui.Optimal control based on real-coding genetic algorithm for fermentation process[J].Journal of Northeastern University:Natural Science,2008,29(7):928-931(in Chinese).[关守平,张艳蕊.基于实数编码遗传算法的发酵过程优化控制[J].东北大学学报:自然科学版,2008,29(7):928-931.]
[24]POWELL D,SKOLNICK M.Using genetic algorithms in engineering design optimization with non-linear constraints[C]//Proceedings of the International Conference on Genetic Algorithms.San Francisco,Cal.,USA:Morgan Kaufmann Publishers Inc,1993:424-431.
[25]DEB K,AGRAWAL S.A niched-penalty approach for constraint handling in genetic algorithms[M]//Artificial Neural Nets and Genetic Algorithms.Berlin,Germany:SpringerVerlag,1999:235-243.
[26]ZHANG Bingjiang.Analytic hierarchy process and it's application[M].Beijing:Publishing House of Electronics Industry,2014:10-81(in Chinese).[张炳江.层次分析法及其应用案例[M].北京:电子工业出版社,2014:10-81.]
[2]ZHANG Xin,WANG Zhangye,WANG Zuosheng,et al.Areal-time inverse kinematics algorithm for human motion modeling[J].Journal of Computer-Aided Design&Computer Graphics,2009,21(6):853-860(in Chinese).[张鑫,王章野,王作省,等.人体运动建模的实时逆运动学算法[J].计算机辅助设计与图形学学报,2009,21(6):853-860.]
[3]WANG Wei,LI Yan.RRT-based manipulation planning method for both arms of virtual human[J].Journal of System Simulation,2009,21(20):6515-6518(in Chinese).[王维,李焱.基于RRT的虚拟人双臂操控规划方法[J].系统仿真学报,2009,21(20):6515-6518.]
[4]GU Yan,HE Qichang,FAN Xiumin,et al.Motion planning and intelligent optimization of virtual human arm for narrow space assembly simulation task[J].Computer Integrated Manufacturing Systems,2016,22(6):1447-1455(in Chinese).[顾岩,何其昌,范秀敏,等.狭小空间虚拟人手臂装配运动规划及智能寻优[J].计算机集成制造系统,2016,22(6):1447-1455.]
[5]YANG Yumeng,NIE Bin,FANG Honggen,et al.Planning collision-free grasping actions of virtual human[J].Journal of Computer-Aided Design&Computer Graphics,2014,26(8):1362-1373(in Chinese).[杨宇盟,聂斌,方红根,等.虚拟人手臂避障抓取运动规划[J].计算机辅助设计与图形学学报,2014,26(8):1362-1373.]
[6]GUO Lu,SHEN Mowei,GUAN Xi.Functional regression analysis in the prediction of body motion[J].Psychological Science,2005,28(3):660-662(in Chinese).[郭璐,沈模卫,关忻.函数回归方法在肢体运动轨迹预测中的应用[J].心理科学,2005,28(3):660-662.]
[7]ZHANG E,HONG Jun,LI Yanshan,et al.Optimal design and pose modeling of automobile man-machine interface[J].Journal of Xi'an Jiaotong University,2008,42(5):546-550(in Chinese).[张鄂,洪军,李彦山,等.汽车人机界面人体上肢位姿建模与优化研究[J].西安交通大学学报,2008,42(5):546-550.]
[8]REED M P,MANARY M A,FLANNAGAN C A,et al.Astatistical method for predicting automobile driving posture[J].Human Factors,2002,44(4):557-68.
[9]BRUDERLIN A,WILLIAMS L.Motion signal processing[C]//Proceedings of the 22nd Annual Conference on Computer Graphics and Interactive Techniques.New York,N.Y.,USA:ACM,1995:97-104.
[10]KUO C F,WANG M J.Motion generation from MTM semantics[J].Computers in Industry,2009,60(5):339-348.
[11]WANG Pengjie,ZHANG Mingmin,WANG Jiang,et al.Lossless pose compression based on random access predictor[J].Journal of Computer-Aided Design&Computer Graphics,2015,27(11):2222-2229(in Chinese).[王鹏杰,张明敏,王江,等.可随机存取预测的人体姿态数据无损压缩方法[J].计算机辅助设计与图形学学报,2015,27(11):2222-2229.]
[12]LI Shilei,LIANG Jiahong,LI Meng,et al.Whole body posture generation of virtual characters by combining posture examples and prioritized inverse kinematics[J].Journal of System Simulation,2011,23(12):2692-2700(in Chinese).[李石磊,梁加红,李猛,等.基于姿态库和PIK算法的虚拟人全身姿态生成[J].系统仿真学报,2011,23(12):2692-2700.]
[13]WANG Zhaohui,CHEN Ken,ZHU Xinxiong.Automatic optimization model for virtual human's working behaviors[J].Journal of Software,2012,23(9):2358-2373(in Chinese).[王朝晖,陈恳,朱心雄.一种虚拟人作业行为的自主优化模型[J].软件学报,2012,23(9):2358-2373.]
[14]WANG Zhaohui,ZHENG Guolei,ZHU Xinxiong.Multi-agent based ergonomic simulation and design system[J].Journal of Engineering Graphics,2010,31(6):133-138(in Chinese).[王朝晖,郑国磊,朱心雄.基于Multi-Agent的人机环境仿真设计系统[J].工程图学学报,2010,31(6):133-138.]
[15]QIU S,HE Q,FAN X,et al.Virtual human hybrid control in virtual assembly and maintenance simulation[J].International Journal of Production Research,2014,52(3):867-887.
[16]DEB K,PRATAP A,AGARWAL S,et al.A fast and elitist multiobjective genetic algorithm:NSGA-Ⅱ[J].IEEE Transactions on Evolutionary Computation,2002,6(2):182-197.
[17]WEI Wei,TAN Jianrong,FENG Yixiong,et al.Multi-objective configuration optimization of modularized product based on NSGA-Ⅱ[J].Computer Integrated Manufacturing Systems,2007,13(11):2092-2098(in Chinese).[魏巍,谭建荣,冯毅雄,等.基于改进的非支配排序遗传算法的模块化产品多目标配置优化研究[J].计算机集成制造系统,2007,13(11):2092-2098.]
[18]WEI Tian,FAN Wenhui.Modified NSGAⅡalgorithm for vehicle routing problem in logistics[J].Computer Integrated Manufacturing Systems,2008,14(4):778-784(in Chinese).[卫田,范文慧.基于NSGAⅡ的物流配送中车辆路径问题研究[J].计算机集成制造系统,2008,14(4):778-784.]
[19]CAI Zixing,XIE Bin.Robotics[M].Beijing:Tsinghua University Press,2015:35-74(in Chinese).[蔡自兴,谢斌.机器人学[M].北京:清华大学出版社,2015:35-74.]
[20]LUO Jianxin.Sports Biomechanics[M].Beijing:Beijing Normal University Press,2010:181-225(in Chinese).[罗建新.运动生物力学[M].北京:北京师范大学出版社,2010:181-225.]
[21]DONG Ying,LIU Huanjie,XU Baodong,et al.A modified genetic algorithm based on real-coding[J].Journal of Northeastern University:Natural Science,2005(4):321-323(in Chinese).[董颖,刘欢杰,许宝栋,等.一种基于实数编码的改进遗传算法[J].东北大学学报:自然科学版,2005(4):321-323.]
[22]ZHANG Gang,YIN Guofu,DENG Kewen,et al.Modified real-coded genetic algorithm and its application to layout design[J].Computer Integrated Manufacturing Systems,2005,11(10):1451-1455(in Chinese).[张刚,殷国富,邓克文,等.改进的实数编码遗传算法在产品布局设计中的应用[J].计算机集成制造系统,2005,11(10):1451-1455.]
[23]GUAN Shouping,ZHANG Yanrui.Optimal control based on real-coding genetic algorithm for fermentation process[J].Journal of Northeastern University:Natural Science,2008,29(7):928-931(in Chinese).[关守平,张艳蕊.基于实数编码遗传算法的发酵过程优化控制[J].东北大学学报:自然科学版,2008,29(7):928-931.]
[24]POWELL D,SKOLNICK M.Using genetic algorithms in engineering design optimization with non-linear constraints[C]//Proceedings of the International Conference on Genetic Algorithms.San Francisco,Cal.,USA:Morgan Kaufmann Publishers Inc,1993:424-431.
[25]DEB K,AGRAWAL S.A niched-penalty approach for constraint handling in genetic algorithms[M]//Artificial Neural Nets and Genetic Algorithms.Berlin,Germany:SpringerVerlag,1999:235-243.
[26]ZHANG Bingjiang.Analytic hierarchy process and it's application[M].Beijing:Publishing House of Electronics Industry,2014:10-81(in Chinese).[张炳江.层次分析法及其应用案例[M].北京:电子工业出版社,2014:10-81.]