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Path Planning Based on Grid-Potential Fields

Authors: Xiaoxi He; Leiting Chen;

Path Planning Based on Grid-Potential Fields

Abstract

We present a path planning model of crowd based on Grid-Potential fields. We represent terrain space as a potential field and discretize it into a regular grid. A voltage variable is defined at the center of each grid cell. The moving of crowd is view as the flow from high voltage to low voltage. Our approach unifies global path planning and local collision avoidance into a single framework in our model. Individuals need not to interact on others but perform global path planning to avoid both obstacles and other individuals. In response to emergencies, we also consider the real-time path planning in our model.

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selected citations
These citations are derived from selected sources.
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
5
Average
Top 10%
Average
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