虚拟人群行为仿真关键技术及军事应用研究
发布时间:2018-07-05 18:28
本文选题:人群行为仿真 + 多智能体系统 ; 参考:《国防科学技术大学》2014年博士论文
【摘要】:随着社会不安定因素的增多,突发安全事件特别是国内群体性事件的频繁发生给社会造成了巨大破坏和人员伤亡。在此背景之下,提高应对突发事件的能力对于保障公共安全具有重要意义。利用计算机仿真技术对人群行为进行仿真研究,从而为具有军事应用背景的人群管理控制决策提供技术支持,已经成为近年来的研究热点。论文以群体性事件作为代表性的军事应用背景,针对当前虚拟人群行为仿真中面临的行为模型真实性差、单一模型不能够真实模拟人群行为现象、人群行为仿真框架适用性差等问题,兼顾群体性事件对人群行为模型的实际需求。分别从人群行为仿真框架设计、独立个体的导航行为、各种类型的组行为生成、群体性事件中的组控制行为等方面,开展虚拟人群行为仿真关键技术研究,提出了相应的控制策略和模型,并对传统的算法进行了改进,主要研究内容概括如下:一、论文首先对虚拟人群行为建模相关技术及应用的国内外研究现状进行了概述,对不同方法的优缺点进行了分析、比较,提出以群体性事件为应用背景开展人群行为仿真研究,将群体性事件中的人群分为平民和士兵,其中平民又由独立个体和组构成。从而提出分别对人群中的不同构成成分进行行为建模,以期建立逼真的人群行为模型。二、对于人群行为仿真框架设计问题,在多智能体体系结构的基础上,将基于行为的智能体体系结构和慎思式智能体体系结构相结合,提出一种行为/认知混合式体系结构。此体系结构不仅能设计明显不同于反应式规则的、复杂的单个行为,还能够通过在行为模块中加入一定程度的规划从而生成更复杂的行为模块,因此能对非结构化的环境进行很好的处理,实现复杂的高层规划和对环境变化的快速反应二者优势互补。行为/认知混合式控制结构由于建立在基于行为的系统设计框架之上,因此具有比慎思/反应式混合体系结构或单纯采用基于行为的结构更大的优势,也更适合于对人群行为的仿真建模。同时在我们设计的体系结构中,实现了全局规划和局部行为的结合、宏观行为和微观行为的结合、数据驱动方法和模型驱动方法的结合,从而能够支撑产生更为真实的人群行为模型,也极大地提高了人群行为仿真框架的适应性和可扩展性。三、对于独立个体的导航行为生成问题,为提高虚拟人运动轨迹的逼真自然性,必须使虚拟人的轨迹满足平滑性、多样性以及具有最大速度和加速度约束。首先对PRM (probabilistic roadmap)算法的采样策略进行了适应性修改,提出将非均匀采样和bridge-test采样策略相结合作为虚拟人的路径点采样策略。利用解耦式轨迹规划方法,提出一种具有最大速度和加速度约束的多样性轨迹设计策略。同时,为了提高避碰行为的真实性,提出利用虚拟人的社会学角色参数和个性参数改进避碰行为模型,从而根据不同的虚拟人内在属性生成多样性的避碰行为。四、针对组行为生成问题,分别对平民组行为和士兵组行为进行研究。提出将可视-Voronoi图用于组运动路径的生成,进而利用平滑方法、多样性轨迹生成策略以及修改评价函数三种方式产生组的运动轨迹,使组运动轨迹满足四个方面的需求,即组的轨迹与障碍间应具有所设定的间隙、组的路径应尽量短、具有平滑性和多样性。针对非一致性平民组,基于分布式控制算法,对基本组行为进行了分析,进而提出了一种具有多个leader和全局轨迹约束的组行为生成方法。设计了一个两步骤控制策略:第一步通过在支撑轨迹上设置一个可移动的“假想领导者”使组中所有领导智能体的中心满足全局轨迹的约束;第二步利用所有领导智能体带领所有跟随智能体,从而将组中所有跟随智能体的中心满足全局轨迹的约束。将这两个步骤相结合,最终实现组中心满足全局轨迹的约束。另外,通过在障碍的边界引入一类“假想的β智能体”,增加组对环境中任意障碍的避碰能力。针对群体性事件应用背景,对一致性平民组和士兵组行为进行了研究,提出利用组外形保证组的一致性,并且使得组外形根据环境状态和全局轨迹的曲率变化而产生灵活的修正。提出利用组外形结合组队形对具有严格队形约束的士兵组行为进行模拟,在此过程中,利用组外形和期望队形在初始队形和目标队形间构建一个队形关键帧序列,使得组中的所有士兵智能体沿全局轨迹从位于初始区域的初始队形运行至位于目标区域处的目标队形。一方面既保证了个体间不发生碰撞,另一方面又保证了组队形尽量与期望队形接近以及组队形的灵活性。提出的组行为生成方法能够生成人群行为仿真中的各种组行为,满足了日常生活和群体性事件中对组行为的需求。五、为了实现日常人群管理和对骚乱人群的控制,针对组控制问题,提出了一种改进的shepherding行为。根据已有shepherding行为的不足,引入具有最大速度和最大加速度约束的时间最优轨迹规划方法,生成控制智能体的运动轨迹,使得控制智能体在满足最大速度和最大加速度约束的前提下,尽快运动至目标位置,从而对人群进行更有效的管理和控制。六、最后进行了数据和模型混合驱动的虚拟人群行为仿真系统开发及其应用研究。以现有的虚拟人应用开发软件为基础,利用数据和模型混合驱动的行为建模思想,我们将基于速度场的行为建模方法和基于智能体的行为建模方法相结合,实现二者的优势互补。以广泛应用的商业软件DI_Guy和Vega Prime软件平台作为可视化渲染输出平台,通过调用底层的SDK动作库函数对虚拟人群进行控制,并以群体性事件想定为例,完成相关应用系统开发,进而检验了本文所做的研究工作。仿真结果表明,本文提出的方法真实地模拟了群体性事件中人群的各种行为,从而为群体性事件中人群的管理、人群行为的分析提供有价值的参考。
[Abstract]:With the increase of social unstability factors, the frequent occurrence of sudden security events, especially domestic group events, has caused great damage and casualties to the society. In this context, it is of great significance to improve the ability of coping with emergencies to ensure public safety. In order to provide technical support for the crowd management and control decision making with military application background, it has become a research hotspot in recent years. This paper takes group events as a representative military application background. In view of the poor behavior model in the current virtual crowd behavior simulation, the single model can not simulate the real behavior of the crowd. Phenomenon, the problem of poor applicability of the crowd behavior simulation framework, and the practical needs of the crowd behavior model. The key technology of virtual crowd behavior simulation is carried out from the design of the crowd behavior simulation framework, the independent individual's navigation behavior, the various types of group behavior generation and the group control line in the group events. In this paper, the corresponding control strategies and models are proposed and the traditional algorithms are improved. The main contents are summarized as follows: first, the thesis first summarizes the research status of the related technologies and applications of virtual crowd behavior modeling at home and abroad. The application background carries out the crowd behavior simulation research, divides the crowd in the group events into the civilians and the soldiers, among which the civilians are made up of independent individuals and groups. Thus, the behavior modeling of the different components in the crowd is proposed in order to establish a realistic model of the crowd behavior. Two, the design of the crowd behavior simulation framework is a problem. On the basis of multi agent architecture, a behavior / cognitive hybrid architecture is proposed based on the behavior based agent architecture and the prudent agent architecture. This architecture can not only design obviously different from the reaction rules, complex individual behavior, but also can be added to the behavior module. Degree planning thus generates more complex behavior modules, so it can handle unstructured environments well, achieve complex high-level planning and rapid response to environmental changes two complementary advantages. The behavior / cognitive hybrid control structure is based on the behavior based system design framework, so it is more prudent / than prudent. The combination of reactive hybrid architectures or simple behavior based structures is more advantageous and more suitable for simulation modeling of crowd behavior. In our architecture, the combination of global planning and local behavior, the combination of macro behavior and microscopic behavior, and the combination of data driven methods and model driven methods are realized. It can support the production of a more real crowd behavior model and greatly improve the adaptability and extensibility of the crowd behavior simulation framework. Three, to create the problem of the navigation behavior of the independent individual, to improve the realistic nature of the virtual human movement, the trajectory of the virtual human must be satisfied, the diversity and the most important. Large speed and acceleration constraints. Firstly, the adaptive modification of the sampling strategy of the PRM (probabilistic roadmap) algorithm is adapted, and a path point sampling strategy is proposed, which combines the non uniform sampling and the bridge-test sampling strategy to the virtual human, and uses the decoupling trajectory planning method to bring up a maximum speed and acceleration constraints. At the same time, in order to improve the authenticity of the collision avoidance behavior, this paper proposes to improve the collision avoidance behavior model by using the sociological role parameters and individual parameters of the virtual human, and thus generates diversity avoidance behavior according to the intrinsic attributes of different virtual people. Four, the behavior generation problem of the group and the group behavior of the civilian group and the soldier group are respectively discussed. In order to study, the visual -Voronoi graph is applied to the formation of the group motion path, and then the path of the group is produced by using the smoothing method, the diversity path generation strategy and the modified evaluation function to produce the movement track of the group, which makes the group motion track meet the needs of the four aspects, that is, the path between the group and the obstacle should have the set gap and the path of the group. It should be as short as possible, with smoothness and diversity. Based on the distributed control algorithm, the basic group behavior is analyzed based on the distributed control algorithm, and a group behavior generation method with multiple leader and global trajectory constraints is proposed. A two step control strategy is designed: the first step is set by the support trajectory. A mobile "imaginary leader" makes the center of all the leading agents in the group meet the constraints of the global trajectory; the second step uses all leading agents to lead all the following agents to meet the constraints of the global trajectory of all the following agents in the group. The two steps are combined to finally achieve the group center satisfaction. In addition, a class of "imaginary beta agents" is introduced into the boundary of obstacles to increase the collision avoidance ability of any obstacle in the environment. According to the application background of the group events, the behavior of the conformance group and the soldier group is studied, and the consistency of the group shape is proposed and the group shape is rooted. According to the curvature of the environment and the global trajectory, a flexible correction is produced. A group shape is used to simulate the behavior of a group of soldiers with strict formation constraints. In this process, a series of key frame sequences are constructed between the group shape and the expected formation between the initial formation and the target formation, so that all of the groups are in the group. The soldier's agent runs along the global trajectory from the initial formation in the initial area to the target formation located at the target area. On the one hand, it not only ensures no collisions among the individuals, but also guarantees the formation of the team shape to be close to the desired formation and the flexibility of the formation. For the various groups of behavior in the simulation, the demand for group behavior in daily life and group events is met. Five, in order to realize the daily crowd management and control of the riot population, an improved shepherding behavior is proposed for the group control problem. According to the shortcomings of the existing shepherding line, the introduction has the maximum speed and maximum acceleration. The time optimal trajectory planning method of degree constraint generates the motion trajectory of the control agent, making the control agent moving to the target position as quickly as possible to the maximum speed and maximum acceleration constraint, so as to manage and control the crowd more effectively. Six, the virtual crowd driven by data and model is carried out most later. The behavior simulation system development and its application research. Based on the existing virtual human application development software, using the behavior modeling thought mixed with data and model, we combine the behavior modeling method based on the speed field and the behavior modeling method based on the agent to realize the complementary advantages of the two. DI_Guy and Vega Prime software platform as the visual rendering output platform, by calling the underlying SDK action library function to control the virtual population, and take the group events as an example, complete the development of the related application system, and then test the research work done in this paper. The simulation results show that the method proposed in this paper is truly simulated. The various behaviors of the crowd in mass incidents provide valuable reference for the management of crowd events and the analysis of crowd behavior.
【学位授予单位】:国防科学技术大学
【学位级别】:博士
【学位授予年份】:2014
【分类号】:D631.43;TP391.9
【参考文献】
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1 林履端;匹配与最优分配问题(连载四)[J];福州师专学报;1999年03期
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