人群驱散仿真系统的研究与实现
|
摘要
随着社会财富的集中,城市人口密度日益增加,各种突发事件频繁发生,对于在人口聚集的场所举行大型的活动,必须预先对人员的疏散方案进行充分地准备,通过虚拟人群疏散行为的模拟评估各种应急的疏散方案,这具有极大的现实意义和实用价值。
针对基于智能体的人群行为仿真方法存在的行为规则和行为决策机制不完善的问题,本文提出基于模糊逻辑的基本原理设计符合人脑思维特点的规则集和推理系统的方法,使得智能体能够在不同的环境下自主选择合理的目标逃生口,进而规划至目标的最短路径。
通过构建虚拟场景的多层导航图简化了场景地图的位置信息,在分析和比较了Dijkstra算法和A*算法的基础上,研究了智能体不同情况下的路径规划最优方法,针对大场景个体数量级高的情况,一般的路径规划算法性能低下的问题,提出了预先规划路径和时间片规划路径方法,在不同程度上提高了路径规划的性能。
智能体在仿真系统中的所有的运动均是通过一些基本操控行为的组合或叠加产生。通过分析自治智能体的基本特性,设计虚拟环境中智能体的各种操控行为。
在分析和研究上述人群行为仿真的技术的基础上,集成这些关键技术和研究成果,研制了紧急情况下的人群驱散仿真系统,构建了分布式可扩展的仿真系统架构,实现对大型公共设施安全危机处置预案的计算机人群驱散运动仿真模拟。仿真系统的实验结果表面：模拟结果是接近现实情况的,关键方法和技术是有效的。
As the concentration of wealth in society, the increasing density of urban population, a variety of unexpected events occur frequently, for a gathering place when hold a large event, the evacuation of people must be fully prepared to conduct evacuation, by the assessment of simulation of virtual people of emergency evacuation program is of great practical significance and value in use.
For the problem of imperfect mechanism of decision-making and rules of the behavior which base on agent simulation, this paper presents the method of base on principles of fuzzy logic which meets the characteristics of thinking of brain and reasoning system rule set of human, making the agent can independently produced reasonable goal, and then planning the shortest path to the target.
By building the multi-level navigation map simplifies the virtual scene graph.Based on studies of the Dijkstra algorithm and A* algorithm, provide the optimal path planning methods.For the problem about the low performance of the algorithm when in the large scene,we proposed two ways to improve the path planning performance.
Agent Simulation System in all the movements are the combination or superposition generated of some basic manipulation. By analyzing the characteristics of autonomous agent,we design various manipulation in a virtual environment, we design group behavior of the agent at the same time.
Based on the analysis and study of the simulation of crowd behavior, we build a distributed simulation system architecture which can be extended and developed an emergency simulation system to disperse the crowd. The results of simulation show:the results are close to reality and the key methods and techniques are effective.
针对基于智能体的人群行为仿真方法存在的行为规则和行为决策机制不完善的问题,本文提出基于模糊逻辑的基本原理设计符合人脑思维特点的规则集和推理系统的方法,使得智能体能够在不同的环境下自主选择合理的目标逃生口,进而规划至目标的最短路径。
通过构建虚拟场景的多层导航图简化了场景地图的位置信息,在分析和比较了Dijkstra算法和A*算法的基础上,研究了智能体不同情况下的路径规划最优方法,针对大场景个体数量级高的情况,一般的路径规划算法性能低下的问题,提出了预先规划路径和时间片规划路径方法,在不同程度上提高了路径规划的性能。
智能体在仿真系统中的所有的运动均是通过一些基本操控行为的组合或叠加产生。通过分析自治智能体的基本特性,设计虚拟环境中智能体的各种操控行为。
在分析和研究上述人群行为仿真的技术的基础上,集成这些关键技术和研究成果,研制了紧急情况下的人群驱散仿真系统,构建了分布式可扩展的仿真系统架构,实现对大型公共设施安全危机处置预案的计算机人群驱散运动仿真模拟。仿真系统的实验结果表面：模拟结果是接近现实情况的,关键方法和技术是有效的。
As the concentration of wealth in society, the increasing density of urban population, a variety of unexpected events occur frequently, for a gathering place when hold a large event, the evacuation of people must be fully prepared to conduct evacuation, by the assessment of simulation of virtual people of emergency evacuation program is of great practical significance and value in use.
For the problem of imperfect mechanism of decision-making and rules of the behavior which base on agent simulation, this paper presents the method of base on principles of fuzzy logic which meets the characteristics of thinking of brain and reasoning system rule set of human, making the agent can independently produced reasonable goal, and then planning the shortest path to the target.
By building the multi-level navigation map simplifies the virtual scene graph.Based on studies of the Dijkstra algorithm and A* algorithm, provide the optimal path planning methods.For the problem about the low performance of the algorithm when in the large scene,we proposed two ways to improve the path planning performance.
Agent Simulation System in all the movements are the combination or superposition generated of some basic manipulation. By analyzing the characteristics of autonomous agent,we design various manipulation in a virtual environment, we design group behavior of the agent at the same time.
Based on the analysis and study of the simulation of crowd behavior, we build a distributed simulation system architecture which can be extended and developed an emergency simulation system to disperse the crowd. The results of simulation show:the results are close to reality and the key methods and techniques are effective.
引文
[1]纪庆革.大型团体操虚拟编排与演练原型系统[D].博士后出站报告,浙江大学.2003.
[2]王军华,吕克志.面向艺术与设计虚拟人技术比较研究[J].计算机系统应用,2009,108-121.
[3]Fields AM, Spradlin G. Modeling civilian crowds in a battlefield simulation[C]. Proceedings of the Ninth Conference on Computer Generated Forces and Behavioral Representation,2000.
[4]Musse S R, Thalmann D. A behavioral model for real time simulation of virtual human crowds[J]. IEEE Transactions on Visualization and Computer Graphics, 2001,152～164.
[5]Helbing D, IIIesJ.Farkas, P.Molnar and T.Vicsek. Simulation of Pedestrian Crows in Noraml and evacation Simulations[C]. In Pedestrian and Evacuation Dynamics M.Sehreekenberg and S.D.Sharma(eds),2001,21～38.
[6]Diekie, J.F., R.A.Smith and J.F.Dickie(eds). Crowd Disasters[C]. Engineering for Crowd safety,1993,89～97.
[7]Fruin J. Pedestrain and planning design[C]. Metropolitan associateion of Urban Designers and Eviromental Planners,1971.
[8]Gwynne,S.Galea, ER.Owen,M.Lawrence, PJ.Filippidis, L.A. Review of the Methodologies Used in Evacuation Modelling[J]. Fire and Materials,1999: 383～388.
[9]王鑫.数据驱动的人群动画仿真技术研究：[D].浙江大学,2009.
[10]杨瑞平.地面作战仿真系统中实体行为研究[J].系统仿真学报,2004,427-431.
[11]詹荣开,王宏伟,贺汉根.虚拟现实技术在武器对抗仿真中的应用研究[J].计算机仿真,2001,26-29.
[12]徐高,马国忠.人群疏散的仿真研究[D].西南交通大学,2003.
[13]徐高.基于智能体技术的人员疏散仿真模型[J].西南交通大学学报,2003,301-303.
[14]潘忠,王长波,谢步瀛.基于几何连续模型的人员疏散仿真[J].系统仿真学报,2006,233-236.
[15]温丽敏,陈宝智.重大事故人员应急疏散模型研究[J].中国安全科学学报, 1999,69-42.
[16]李伏京,方卫宁.磁悬浮车辆中人员紧急疏散的仿真研究[J].中国安全科学学报,2005：17-20.
[17]William T. Reeves. Particle systems-a technique for modeling a class of fuzzy objects[J]. Computer Graphics,1983,359～376.
[18]Gavin Miller, Andrew Pearce. Globular Dynamics:A connected particle system for animating viscous fluids[J]. Computers and Graphics,1989,305-309.
[19]James F.O'Brien, Jessica K.Hodgins.Dynamic simulation of splashing fluids[A]. In:Proceedings of the Computer Animation,1995,198～208.
[20]Tsunemi Takahashi,Hiroko Fujii,Atsushi Kunimatsu,Kazuhiro Hiwada,Takahiro Saito,Ken Tanaka,Heihachi Ueki.Realistic animation of fluid with splash and foam[J], ComputerGraphics Forum,2003,391-400.
[21]杨述华,廖守义,王仕成,等.基于粒子系统和Vega的实时雨雪模拟,计算机应用[J],2008,238-240.
[22]Henderson L.F. The Statisties of Crowd Fluids[J]. Nature,1971,381～383.
[23]钟子春.实时流体交互性模拟算法的研究与实现：[D].成都：电子科技大学,2009.
[24]Bouvier, E.CohenE., Najman.L. From crowd simulation to airbag deployment: particle systems, a new paradigm of simulation[J]. Journal of Electronic Imaging, 1997,94～107.
[25]Bouvier,E.Guilloteau. Crowd Simulation in Immersive Space Management[C]. In:Proc.Eurographics,1996.
[26]Molnar P. Control of distributed autonomous robotic systems using principles of pattern formation in nature and pedestrian behavior [J]. IEEE Trans,2001, 433～436.
[27]Anders, Johansson. Pedestrian Simulations with the Social Force Model[J]. Germany:Dresden University of Technology,2004.
[28]Helbing, D.Farkas, I.Vicsek, T. Simulating dynamical features of escape panic[J]. Nature 2001,487～490.
[29]Dirk Helbing, Iiies Farkas, Tamas Vicsek. Simulating dynamical features of escape panic[J]. Letters to nature,2000,487～490
[30]Helbing.Dirk. A mathematical model for the behavior of individuals in a social field[J]. Journal of Mathematical Sociology,1994,189～219.
[31]HendersonL.F. Sexual differences in human crowd motion[J]. Nature,1972, 353～355.
[32]Klupfel H., Meyer-Kong M., Wahlej, et al. M.Micro s copic simulation of evacuation processes on passenger ships[C]. In Theoretical and Practical Issues on Cellular Automata(2000),2000,63～71.
[33]Henderson L.F. The Statistics of Crowd Fluids[J]. Nature,1971,381～383.
[34]Shigeyuki Okazaki. A stuty of pedestrian movement in architectural space[C]. Trans. of A.I.J. No.283.
[35]Dirk Helbing, Illes Farkas, Tamas Vicsek. Simulating Dynamical Features of Escape Panic[J]. Nature 407,487～490.
[36]Taras I. Lakoba, D. J. Kaup, Neal M. Finkelstein. Modifications of the Helbing-Molnar-Farkas-Vicsek Social Force Model for Pedestrian Evolution[J]. SIMULATION 81,339～352.
[37]Kardi Teknomo. Microscopic Pedestrian Flow Characteristics:Development of an Image Processing Data Collection and Simulation Model[J]. Doctor's Thesis, Tohoku University,2002.
[38]Hoogendoorn S.P., Bovy P.H.L., and Daamen W. Microscopic pedestrian wayfinding and dynamics modeling[J]. In Pedestrian and evacuation dynamics, 2002,123～154.
[39]Adrien Treuille, Seth Cooper, Zoran Popovi'c. Continuum Crowds[J]. ACM Transactions on Graphics 2006,25(3):52～55.
[40]Kuligowski E D, Peacock R D.A Review of Building Evacuation Models[J]. NIST Techincal Note 1471,2005.
[41]Pauls J. Personal perspective on research,consulting and codes/standards development in fire-related human behaviour,1969-1999, with an emphasis on space and time factors[J]. Fire and Materials,1999,265～272.
[42]Norman,Murray, Terrence,Fernando, Ghassan and Aouad. A Virtual Environment for the Design and Simulated Construction of Prefabricated Buildings[J]. Springer-Verlag London Ltd Virtual Reality,2003,244～256.
[43]Ronan, Querrec, Pierre, et al. Virtual Storytelling for Training.An Application to Fire Fighting in Industrial Environment.
[44]李志强,胡晓峰,杨雪生,等.虚拟环境中大规模群体行为建模技术研究进展[J].计算机工程与应用.2008,45-48.
[45]Craig W. Reynolds, Flocks, Herds, and Schools. A Distributed Behavioral Model[C]. In:ACM SIGGRAPH'87 Conference ProceedingsAnaheim, California,25～34.
[46]Xiaoyuan Tu, Demetri Terzopoulos. Artificial Fishes:Physics, Locomotion, Perception, Behavior[C]. In:Proc. of ACM SIGGRAPH'94O,43～50.
[47]John Funge, Xiaoyuan Tu, Demetri Terzopoulos. Cognitive Modeling: Knowledge, Reasoning and Planning for Intelligent Characters[C]. In:Proc. of ACM SIGGRAPH'99Los Angeles,16～23.
[48]Shao W., Demetri Terzopoulos.Autonomous pedestrians[C]. In SVA'05 (proceeding of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation), ACM Press 2005,19～28.
[49]Blue V.J. and AdlerJ.L. Using Cellular Automata. Microsimulation to Model Pedestrian Movements [C]. Proceedings of the 14th International Symposium on Transportation and Traffic Theory, A. Ceder (ed.) Elsevier Science Ltd. July 1999,235～254.
[50]Xiaoyuan Tu, Demetri Terzopoulos. Artificial Fishes:Physics, Locomotion, Perception, Behavior[C]. In:Proc. of ACM SIGGRAPH'94O,43～50.
[51]Neil Ketchell,Alison Holt,kevin Kinsella. A Technical Summary of The AEA EGRESS Code[J]. AEA Technology Safety and Risk Management.
[52]Brogan D.C., Hodgins J.K. Group Behaviours for Systems with Significant Dynamics[J]. Autonomous Robots,1997,137～153.
[53]Mankyu Sung, Michael Gleicher, Stephen Chenney. Scalable behaviors for crowd simulation[C]. In:Computer Graphics Forum,519～528.
[54]Soraia R. Musse, Daniel Thalmann. A model of human crowd behavior:Group inter-relationship and collision detection analysis [J]. Computer Animation and Simulation,39～51.
[55]S.R.Musse, C.Babski, T.Capin, D.Thalmann. Crowd modeling in collaborative virtual environments[C]. In Proceedings of VRST'98,1998,115～124.
[56]Kuligowski E.D., Peacock RD. Review of Building Evacuation Models[C]. NISTTN 1471; NIST Technical Note 1471,153, July 2005.
[57]Fadin G, F.Biasoli, L.Colmano. Passengers automatie counting system[C]. Inc:Proceeding of the World Congres on Railway Researeh,1997.
[58]Cova, T.J., and Johnson, J.P.A network flow model for lane-based evacuation routing[J].TransPortation Research Part A:Policy and Practice,2003,579～604.
[59]T.Werner and D.Helbing. Pedestrian and Evacuation Dynamies[C]. Znd International Conference,2003.
[60]Hareesh P. Evacuation simulation. Visualisation using virtual humans in a distributed multi-user immersive VR system,2000,18～26.
[2]王军华,吕克志.面向艺术与设计虚拟人技术比较研究[J].计算机系统应用,2009,108-121.
[3]Fields AM, Spradlin G. Modeling civilian crowds in a battlefield simulation[C]. Proceedings of the Ninth Conference on Computer Generated Forces and Behavioral Representation,2000.
[4]Musse S R, Thalmann D. A behavioral model for real time simulation of virtual human crowds[J]. IEEE Transactions on Visualization and Computer Graphics, 2001,152～164.
[5]Helbing D, IIIesJ.Farkas, P.Molnar and T.Vicsek. Simulation of Pedestrian Crows in Noraml and evacation Simulations[C]. In Pedestrian and Evacuation Dynamics M.Sehreekenberg and S.D.Sharma(eds),2001,21～38.
[6]Diekie, J.F., R.A.Smith and J.F.Dickie(eds). Crowd Disasters[C]. Engineering for Crowd safety,1993,89～97.
[7]Fruin J. Pedestrain and planning design[C]. Metropolitan associateion of Urban Designers and Eviromental Planners,1971.
[8]Gwynne,S.Galea, ER.Owen,M.Lawrence, PJ.Filippidis, L.A. Review of the Methodologies Used in Evacuation Modelling[J]. Fire and Materials,1999: 383～388.
[9]王鑫.数据驱动的人群动画仿真技术研究：[D].浙江大学,2009.
[10]杨瑞平.地面作战仿真系统中实体行为研究[J].系统仿真学报,2004,427-431.
[11]詹荣开,王宏伟,贺汉根.虚拟现实技术在武器对抗仿真中的应用研究[J].计算机仿真,2001,26-29.
[12]徐高,马国忠.人群疏散的仿真研究[D].西南交通大学,2003.
[13]徐高.基于智能体技术的人员疏散仿真模型[J].西南交通大学学报,2003,301-303.
[14]潘忠,王长波,谢步瀛.基于几何连续模型的人员疏散仿真[J].系统仿真学报,2006,233-236.
[15]温丽敏,陈宝智.重大事故人员应急疏散模型研究[J].中国安全科学学报, 1999,69-42.
[16]李伏京,方卫宁.磁悬浮车辆中人员紧急疏散的仿真研究[J].中国安全科学学报,2005：17-20.
[17]William T. Reeves. Particle systems-a technique for modeling a class of fuzzy objects[J]. Computer Graphics,1983,359～376.
[18]Gavin Miller, Andrew Pearce. Globular Dynamics:A connected particle system for animating viscous fluids[J]. Computers and Graphics,1989,305-309.
[19]James F.O'Brien, Jessica K.Hodgins.Dynamic simulation of splashing fluids[A]. In:Proceedings of the Computer Animation,1995,198～208.
[20]Tsunemi Takahashi,Hiroko Fujii,Atsushi Kunimatsu,Kazuhiro Hiwada,Takahiro Saito,Ken Tanaka,Heihachi Ueki.Realistic animation of fluid with splash and foam[J], ComputerGraphics Forum,2003,391-400.
[21]杨述华,廖守义,王仕成,等.基于粒子系统和Vega的实时雨雪模拟,计算机应用[J],2008,238-240.
[22]Henderson L.F. The Statisties of Crowd Fluids[J]. Nature,1971,381～383.
[23]钟子春.实时流体交互性模拟算法的研究与实现：[D].成都：电子科技大学,2009.
[24]Bouvier, E.CohenE., Najman.L. From crowd simulation to airbag deployment: particle systems, a new paradigm of simulation[J]. Journal of Electronic Imaging, 1997,94～107.
[25]Bouvier,E.Guilloteau. Crowd Simulation in Immersive Space Management[C]. In:Proc.Eurographics,1996.
[26]Molnar P. Control of distributed autonomous robotic systems using principles of pattern formation in nature and pedestrian behavior [J]. IEEE Trans,2001, 433～436.
[27]Anders, Johansson. Pedestrian Simulations with the Social Force Model[J]. Germany:Dresden University of Technology,2004.
[28]Helbing, D.Farkas, I.Vicsek, T. Simulating dynamical features of escape panic[J]. Nature 2001,487～490.
[29]Dirk Helbing, Iiies Farkas, Tamas Vicsek. Simulating dynamical features of escape panic[J]. Letters to nature,2000,487～490
[30]Helbing.Dirk. A mathematical model for the behavior of individuals in a social field[J]. Journal of Mathematical Sociology,1994,189～219.
[31]HendersonL.F. Sexual differences in human crowd motion[J]. Nature,1972, 353～355.
[32]Klupfel H., Meyer-Kong M., Wahlej, et al. M.Micro s copic simulation of evacuation processes on passenger ships[C]. In Theoretical and Practical Issues on Cellular Automata(2000),2000,63～71.
[33]Henderson L.F. The Statistics of Crowd Fluids[J]. Nature,1971,381～383.
[34]Shigeyuki Okazaki. A stuty of pedestrian movement in architectural space[C]. Trans. of A.I.J. No.283.
[35]Dirk Helbing, Illes Farkas, Tamas Vicsek. Simulating Dynamical Features of Escape Panic[J]. Nature 407,487～490.
[36]Taras I. Lakoba, D. J. Kaup, Neal M. Finkelstein. Modifications of the Helbing-Molnar-Farkas-Vicsek Social Force Model for Pedestrian Evolution[J]. SIMULATION 81,339～352.
[37]Kardi Teknomo. Microscopic Pedestrian Flow Characteristics:Development of an Image Processing Data Collection and Simulation Model[J]. Doctor's Thesis, Tohoku University,2002.
[38]Hoogendoorn S.P., Bovy P.H.L., and Daamen W. Microscopic pedestrian wayfinding and dynamics modeling[J]. In Pedestrian and evacuation dynamics, 2002,123～154.
[39]Adrien Treuille, Seth Cooper, Zoran Popovi'c. Continuum Crowds[J]. ACM Transactions on Graphics 2006,25(3):52～55.
[40]Kuligowski E D, Peacock R D.A Review of Building Evacuation Models[J]. NIST Techincal Note 1471,2005.
[41]Pauls J. Personal perspective on research,consulting and codes/standards development in fire-related human behaviour,1969-1999, with an emphasis on space and time factors[J]. Fire and Materials,1999,265～272.
[42]Norman,Murray, Terrence,Fernando, Ghassan and Aouad. A Virtual Environment for the Design and Simulated Construction of Prefabricated Buildings[J]. Springer-Verlag London Ltd Virtual Reality,2003,244～256.
[43]Ronan, Querrec, Pierre, et al. Virtual Storytelling for Training.An Application to Fire Fighting in Industrial Environment.
[44]李志强,胡晓峰,杨雪生,等.虚拟环境中大规模群体行为建模技术研究进展[J].计算机工程与应用.2008,45-48.
[45]Craig W. Reynolds, Flocks, Herds, and Schools. A Distributed Behavioral Model[C]. In:ACM SIGGRAPH'87 Conference ProceedingsAnaheim, California,25～34.
[46]Xiaoyuan Tu, Demetri Terzopoulos. Artificial Fishes:Physics, Locomotion, Perception, Behavior[C]. In:Proc. of ACM SIGGRAPH'94O,43～50.
[47]John Funge, Xiaoyuan Tu, Demetri Terzopoulos. Cognitive Modeling: Knowledge, Reasoning and Planning for Intelligent Characters[C]. In:Proc. of ACM SIGGRAPH'99Los Angeles,16～23.
[48]Shao W., Demetri Terzopoulos.Autonomous pedestrians[C]. In SVA'05 (proceeding of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation), ACM Press 2005,19～28.
[49]Blue V.J. and AdlerJ.L. Using Cellular Automata. Microsimulation to Model Pedestrian Movements [C]. Proceedings of the 14th International Symposium on Transportation and Traffic Theory, A. Ceder (ed.) Elsevier Science Ltd. July 1999,235～254.
[50]Xiaoyuan Tu, Demetri Terzopoulos. Artificial Fishes:Physics, Locomotion, Perception, Behavior[C]. In:Proc. of ACM SIGGRAPH'94O,43～50.
[51]Neil Ketchell,Alison Holt,kevin Kinsella. A Technical Summary of The AEA EGRESS Code[J]. AEA Technology Safety and Risk Management.
[52]Brogan D.C., Hodgins J.K. Group Behaviours for Systems with Significant Dynamics[J]. Autonomous Robots,1997,137～153.
[53]Mankyu Sung, Michael Gleicher, Stephen Chenney. Scalable behaviors for crowd simulation[C]. In:Computer Graphics Forum,519～528.
[54]Soraia R. Musse, Daniel Thalmann. A model of human crowd behavior:Group inter-relationship and collision detection analysis [J]. Computer Animation and Simulation,39～51.
[55]S.R.Musse, C.Babski, T.Capin, D.Thalmann. Crowd modeling in collaborative virtual environments[C]. In Proceedings of VRST'98,1998,115～124.
[56]Kuligowski E.D., Peacock RD. Review of Building Evacuation Models[C]. NISTTN 1471; NIST Technical Note 1471,153, July 2005.
[57]Fadin G, F.Biasoli, L.Colmano. Passengers automatie counting system[C]. Inc:Proceeding of the World Congres on Railway Researeh,1997.
[58]Cova, T.J., and Johnson, J.P.A network flow model for lane-based evacuation routing[J].TransPortation Research Part A:Policy and Practice,2003,579～604.
[59]T.Werner and D.Helbing. Pedestrian and Evacuation Dynamies[C]. Znd International Conference,2003.
[60]Hareesh P. Evacuation simulation. Visualisation using virtual humans in a distributed multi-user immersive VR system,2000,18～26.