基于多智能体的井下应急撤离虚拟人群仿真研究

发布时间：2018-05-25 10:07

本文选题：虚拟人群 + 虚拟环境　；参考：《重庆邮电大学》2015年硕士论文

【摘要】：虚拟人群仿真技术当前已在高层建筑火灾、大型体育场馆突发事件、地铁火灾等公共安全领域的应急撤离仿真中得到广泛应用。然而，由于煤矿井下的特殊环境，目前井下事故应急撤离虚拟人群仿真研究还非常有限。煤矿安全行为学研究表明，系统地研究井下矿工在煤矿火灾、瓦斯爆炸等典型事故中的应急撤离行为，建立有效的井下事故应急撤离仿真模型，不仅对制定有效的井下事故应急预案具有实际的指导意义，而且对提高井下矿工培训水平也有非常重要的现实意义。然而，传统系统安全工程方法的实验环境难以保证，耗资巨大，又相当危险。本文结合当前虚拟人群仿真技术与煤矿井下事故应急撤离实际场景，基于多智能体技术，研究煤矿井下虚拟人群应急撤离行为仿真方法，重点考虑煤矿井下应急撤离中不同角色的心理、生理特征，构建不同角色虚拟矿工的应急决策模型，研究井下虚拟人群应急撤离算法及典型事故应急撤离虚拟现实仿真系统，，不仅有利于深入理解井下应急撤离中矿工及其组织的行为，为制定更加切实可行的井下事故应急撤离预案及井下矿工训练方案提供一定的理论及技术支撑，也有利于当前虚拟人群仿真技术的具体应用。主要研究内容及成果包括： 1.根据煤矿井下事故应急撤离的特殊环境，构建了基于多智能体的井下虚拟人群应急撤离仿真模型。该模型由虚拟人群仿真模块、几何场景仿真模块、场景数据库模块、人机交互模块和事件记录模块五部分组成。同时，研究了井下事故应急撤离中的人群行为特征，建立了基于角色的井下应急撤离虚拟人群仿真算法，实现井下事故应急撤离中“领导者-跟随者”的行为仿真。此外，研究了井下典型智能体的构建方法，建立了自主虚拟矿工智能体、环境/设备类智能体模型。 2.研究了井下应急撤离虚拟人群逃生路径规划算法。建立了虚拟矿井的栅格化模型，基于典型的A*算法，实现了井下应急撤离虚拟人群逃生路径选择，重点根据煤矿井下应急撤离中不同巷道的通行难易程度及矿工跨越不同障碍的高度信息，建立了考虑势能的A*路径规划的启发式搜索函数，使路径规划结果更符合井下实际情况。 3.研究了目前虚拟环境典型的碰撞检测算法，基于AABB层次包围盒模型，建立了虚拟矿井的碰撞检测方法。在此基础上，重点研究了井下应急撤离虚拟人群避碰方法，建立了井下虚拟人群典型运动形式的避碰策略与算法。 4.设计、开发了煤矿井下应急撤离虚拟人群仿真系统，实现了虚拟煤矿井下漫游及典型事故虚拟人群仿真。结合井下火灾事故应急撤离案例，具体介绍了虚拟人群仿真方法，并针对不同角色组成的人群场景，仿真了其应急撤离过程与实际效果，初步验证了本文提出的相关模型与方法。
[Abstract]:Virtual crowd simulation technology has been widely used in the emergency evacuation simulation in the field of public safety, such as high-rise building fire, large-scale stadium emergencies, subway fire and so on. However, due to the special environment of underground coal mine, the simulation of emergency evacuation of underground accidents is still very limited. The study of coal mine safety behavior shows that the emergency evacuation behavior of underground miners in coal mine fire, gas explosion and other typical accidents is systematically studied, and an effective simulation model of underground emergency evacuation is established. It is not only of practical significance to formulate an effective emergency plan for underground accidents, but also of great practical significance to improve the training level of underground miners. However, the experimental environment of traditional system safety engineering methods is difficult to guarantee, expensive and dangerous. Combined with the current virtual crowd simulation technology and the actual scene of underground mine emergency evacuation, based on multi-agent technology, the simulation method of emergency evacuation behavior of virtual crowd in coal mine is studied in this paper. Considering the psychological and physiological characteristics of different roles in underground emergency evacuation, the emergency decision-making model of virtual miners with different roles is constructed, and the emergency evacuation algorithm and virtual reality simulation system of typical accidents emergency evacuation are studied. It is not only beneficial to deeply understand the behavior of miners and their organizations in underground emergency evacuation, but also to provide certain theoretical and technical support for formulating more feasible emergency evacuation plan and training scheme for underground miners. It is also beneficial to the concrete application of virtual crowd simulation technology. The main contents and achievements of the study include: 1. According to the special environment of underground emergency evacuation, the simulation model of underground virtual crowd emergency evacuation based on multi-agent is constructed. The model consists of virtual crowd simulation module, geometric scene simulation module, scene database module, human-computer interaction module and event recording module. At the same time, the characteristics of crowd behavior in underground emergency evacuation are studied, and a role-based virtual crowd simulation algorithm for underground emergency evacuation is established to simulate the behavior of "leader-follower" in downhole emergency evacuation. In addition, the construction method of typical underground agent is studied, and the autonomous virtual miner agent, environment / equipment agent model is established. 2. The algorithm of escape path planning for underground emergency evacuation virtual crowd is studied. The rasterization model of virtual mine is established. Based on the typical A * algorithm, the escape path of emergency evacuation virtual crowd is realized. The heuristic search function of path planning of A * considering potential energy is established according to the information of the difficulty of passing through different roadways and the height of miners crossing different obstacles in emergency evacuation of underground coal mine. Make the path planning results more in line with the actual situation underground. 3. The typical collision detection algorithm in virtual environment is studied. Based on the AABB hierarchy bounding box model, the collision detection method of virtual mine is established. On this basis, the collision avoidance method of underground emergency evacuation virtual crowd is studied, and the collision avoidance strategy and algorithm of typical movement form of underground virtual crowd are established. 4. The virtual crowd simulation system for emergency evacuation of coal mine is designed and developed, and the virtual crowd simulation for underground roaming and typical accidents is realized. Combined with the emergency evacuation case of underground fire accident, the simulation method of virtual crowd is introduced in detail, and the emergency evacuation process and actual effect are simulated according to the crowd scene composed of different roles. The related models and methods proposed in this paper are preliminarily verified.
【学位授予单位】：重庆邮电大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TD77;TP391.9

【参考文献】