High-quality trajectory planning for heterogeneous individuals

• Published in: Journal of Central South University Vol. 26; no. 3; pp. 654 - 664
• Main Authors: Li, Meng, Li, Shi-lei, Ge, Yuan-zheng
• Format: Journal Article
• Language: English
• Published: Changsha Central South University 01.03.2019; Springer Nature B.V
• Subjects: Acceleration; Algorithms; Computer simulation; Engineering; Metallic Materials; Trajectory optimization; Trajectory planning; Velocity; Virtual humans; 视觉多样性; 轨迹规划; 真实性; bounded velocity and acceleration; heterogeneous crowd; trajectory planning; authenticity; visual variety; 异质人群; 有界的速度和加速度
• ISSN: 2095-2899; 2227-5223
• DOI: 10.1007/s11771-019-4036-4

Based on trajectory planning with maximum velocity and acceleration constraints, a novel high-quality trajectory planning method was proposed for heterogeneous individuals in crowd simulation. The proposed method ensured that the individual’s path was smooth and its velocity was continuous. Based on the physiological constraints of humans with maximum velocity and acceleration, time-optimal trajectory and feasible region were derived by solving kinodynamic planning problem. Subsequently, a high-quality trajectory planning algorithm was designed to compute the trajectory with appropriate variation of velocity. The simulation results demonstrate that the proposed trajectory planning method has more authenticities and can generate high-quality trajectories for virtual humans in crowd simulation.