Journal of Computer Applications ›› 2018, Vol. 38 ›› Issue (8): 2164-2169.DOI: 10.11772/j.issn.1001-9081.2018010173

Previous Articles     Next Articles

Crowd evacuation algorithm based on human-robot social force model

HU Xuemin, XU Shanshan, KANG Meiyu, WEI Jieling, BAI Liyun   

  1. School of Computer Science and Information Engineering, Hubei University, Wuhan Hubei 430062, China
  • Received:2018-01-21 Revised:2018-03-18 Online:2018-08-10 Published:2018-08-11
  • Supported by:
    This work is partially supported by the Hubei Provincial Natural Science Foundation of China (2018CFB158), the Scientific Research Program Youth Talent Project of Hubei Provincial Education Department (Q20171012), the Undergraduate Innovation Training Foundation of Hubei Province (201710512049).


胡学敏, 徐珊珊, 康美玉, 魏洁玲, 白丽贇   

  1. 湖北大学 计算机与信息工程学院, 武汉 430062
  • 通讯作者: 胡学敏
  • 作者简介:胡学敏(1985-),男,湖南岳阳人,副教授,博士,主要研究方向:计算机视觉、智能系统;徐珊珊(1997-),女,湖北咸宁人,主要研究方向:智能机器人;康美玉(1998-),女,湖北黄冈人,主要研究方向:人群疏散模型;魏洁玲(1997-),女,湖北武汉人,主要研究方向:机器学习;白丽贇(1995-),女,陕西汉中人,硕士研究生,主要研究方向:智能系统。
  • 基金资助:

Abstract: To deal with the difficulty and low performance of emergency crowd evacuation in public spaces, a crowd evacuation method using robots based on the social force model was proposed. A new human-robot social force model based on the original social force model was first developed, where the human-robot interaction from robots to pedestrians was added to the original social force model. And then, a new method using robot based on the human-robot social force model was presented to evacuate the crowd. After joining the crowd evacuation scenes, the robots can influence the motion of the surrounding pedestrians and reduce the pressure among the pedestrians by moving in the crowd, thus increasing the crowd motion speed and improving the efficiency of crowd evacuation. Two classical scenarios, including a group of crowd escaping from a closed environment and two groups of crowd moving to each other by crossing, were designed and simulated to test the proposed method, and the crowd evacuation method without robots was used for comparison. The experimental results demonstrate that the proposed method based on human-robot social force model can obviously increase the crowd motion speed and improve the efficiency of crowd evacuation.

Key words: human-robot social force model, human-robot force, crowd evacuation, robot

摘要: 针对公共场合紧急情况下人群疏散困难和效果有限的问题,提出一种基于人机社会力模型的机器人疏散人群的方法。首先,基于原始社会力模型提出了一种新的人机社会力模型,该模型在原始社会力模型的基础上加入了机器人对人作用的人机作用力;然后,基于人机社会力模型提出一种新的利用机器人疏散人群的方法,该方法在人群疏散场景中加入运动机器人,通过机器人自身的运动,利用人机作用力影响周围行人的运动状态,减小行人之间的压力,从而达到加快人群运动速度、提高人群疏散效率的目的。在室内封闭场景人群逃生、两群行人交错这两种典型的疏散场景中分别进行仿真实验,并将实验结果与未加入机器人的人群疏散结果进行对比分析,实验结果表明,基于人机社会力模型的机器人疏散人群的方法能够明显加快人群的运动,提高人群的疏散效率。

关键词: 人机社会力模型, 人机作用力, 人群疏散, 机器人

CLC Number: