基于离散势能场的行人路径规划算法研究

复杂二维场景中的行人路径规划是行人仿真研究体系中微观仿真服务的关键性问题之一。针对该问题提出基于离散势能场的路径规划算法，给出总体算法的流程，并针对离散势能场的生成算法、离散路径的合理化方法等关键环节进行详细论述，最后经算例证明该算法具有一定的有效性，同时存在一定的局限性。

Algorithm of Pedestrians＇ Path Planning Based on Discrete Potential Field

Path planning for pedestrian in complex 2D scenario is important technique serving for microscopic simulation. A path planning algorithm is provided based on discrete potential field. The whole execute flow of mentioned algorithm is given, and several key techniques such as the generation algorithm for discrete potential field and the polish method for discrete path are explained in detail. Finally, numerical examples are given to demonstrate the feasibility of the developed algorithm and its objective limitation for application is pointed out.