Method for avoiding obstacles based on blocking corners in pedestrian simulation
A technology for obstacles and pedestrians, which is applied in the field of obstacle collision avoidance in pedestrian simulation based on blocking angle, can solve the problems of repulsion parameter calibration, improve pedestrian simulation, etc., and achieve the effect of simplifying modeling work and fewer algorithm parameters
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[0039] Collision avoidance for multiple pedestrians in the same direction
[0040] like Figure 7 As shown, C is the current pedestrian, D j is the target point, C 1 、C 2 Pedestrian C is the pedestrian who hinders him from reaching the target point, by making circle C and circle C 1 、C 2 The internal common tangent of the tangent point A 1 、A 2 、A 3 、A 4 , in the direction of the outer normal of each tangent point, take a point T whose distance from the tangent point is the radius of the circle C 1 , T 2 , T 3 , T 4 ,∠T 1 CT 2 and ∠T 3 CT 4 is the blocking angle. Both the terminal side and the starting side of the blocking angle correspond to the direction angle and the navigation point, judge whether the side of the blocking angle is included by other blocking angles through the direction angle, and record the navigation point of the starting side or the terminal side that is not included in one In the set T, calculate the sum of the distance from the pedestr...
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