用于行人仿真的一种改进启发式路径搜索算法.pdfVIP

用于行人仿真的一种改进启发式路径搜索算法  1 1 高鹏 ,徐瑞华 （1.同济大学 交通运输工程学院 运输管理工程系，上海 201804）   摘要：A*算法是人工智能中一种典型的启发式搜索算法，它在游戏开发、机器人导航等领 域内得到广泛的应用。本文在A*算法的基础上进行改进，将其应用到大规模行人仿真系统 中，取得良好效果。  由于采用不同的启发函数能够得到不同的路径，本文对几种启发函数进行了分析、比较 和改进，用以模拟行人选择路径的多样化；通过对地图进行预处理，对靠近障碍物节点的增 加惩罚值，解决了传统A*算法搜索得到的路径过于“贴边”问题；提出了一种“修剪算法”， 使得经过处理的路径更加真实、更加符合行人行走的习惯。    关键词：行人仿真，路径搜索，路径规划，A*算法  A Modified Heuristic Search Algorithm for Pedestrian Simulation  1 1  Gao Peng  and Xu Ruihua 1 Department of Transportation Management Engineering, School of Transportation Engineering, TongJi University, 4800 CaoAn Road, JiaDing campus, Shanghai 201804; email: TJ_JT_GP @    Abstract ：Pathfinding is a core component of many intelligent agent applications, ranging in diversity from commercial computer games to robotics. A modified A* algorithm is proposed in this paper to solve path finding problem in an Agent-based pedestrian flow simulation system. The feasibility and efficiency of the algorithm have been proved in the simulation tests. A*’s ability to vary its behavior based on the heuristic and cost functions can be very useful, we can simulate the variety of pedestrian’s route choice by designing diverse heuristic functions. In this paper, several heuristic functions are introduced and compared; meanwhile, the problem of the output path “clinging to obstacle” of the traditional A* algorithm has been solved by imposing penalty on nodes near obstacles in map preprocessing; finally, a “Trimming Algorithm” has been developed to make the path more realistic. Keywords: pedestrian simulation, path finding, path planning, A* algorithm