【摘要】 给出了一种基于人工势场法的虚拟人足迹规划方法。提出了一种足迹计算方法,通过计算势场力决定虚拟人的前进方向,计算得到虚拟人的足迹;设计了一种足迹分解方法,计算得到虚拟人大角度转弯时的足迹。运用该算法在固定及移动障碍物环境以及多人环境下进行仿真,模拟虚拟人前进方向随时发生变化的避障行走,计算虚拟人从初始点到目标点的足迹,也对大角度转弯情况进行了仿真。仿真结果证明了算法的可行性。更多还原

【Abstract】 Based on potential field method, a footprint planning method was proposed. A footprint calculating method was designed to get the footprints by calculating the potential force which determined the walking direction. A footprint decomposing method was designed to get the footprints when acute turning existed. The method was applied in three situations, including one with both static and moving obstacles, one with multi-virtual-human and another with acute turning, to simulate the collision avoidance with walking direction changing at any moment and to get the footprints from origin to target. The proposed methods are proved effective by simulation.更多还原