01623051

Component

Path planning is a process determining a set of waypoints avoiding potential conflict with other objects for faster movement to the destination. Path planning can be used for various types of movements such as pedestrian, vehicles, and robots. In this paper, the authors propose a methodology of pedestrian path planning which considers anticipatory behaviors under dynamic and stochastic environment. This paper defines occupancy map (OM) as an imaginary map which shows the current occupancy in space, and expected occupancy map (EOM) showing the future expected occupancy of the field to reflect the anticipation effect that pedestrians react to the potential collisions. Based on the information of the expected occupancy, travelers choose the optimal path which leads them to the destination safely and quickly. The path planning problem is formulated to find one optimal path minimizing the total travel delay, and is solved by Genetic Algorithm. The authors combine the force model to the proposed path planning model to compare the movement results using the EOM-based path planning and the OM-based path planning.Simulation results also show how the collision penalty affects to planning results.

This paper was sponsored by TRB committee ANF10 Standing Committee on Pedestrians.

01618707

17-01309

English

17p

2017

Transportation Research Board 96th Annual Meeting

Digital/other

Figures; References; Tables

Genetic algorithms; Pedestrian flow; Shortest path algorithms; Stochastic processes

Anticipation; Path finding; Path strategies

Pedestrians and Bicyclists; Planning and Forecasting

Transportation Research Board Annual Meeting 2017 Paper #17-01309

TRIS, TRB, ATRI

Dec 8 2016 10:25AM