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題名 以可變形體物體之運動計畫及模糊規則實現人群模擬
Simulating Virtual Crowd by Motion Planning for Reshapable Object and Fuzzy Rules
作者 張仁耀
Chang,Jen-Yao
貢獻者 李蔡彥
Li,Tsai-Yen
張仁耀
Chang,Jen-Yao
關鍵詞 運動計畫
群體模擬
模糊規則
Motion Planning
Crowd Simulation
Fuzzy Rule
日期 2006
上傳時間 17-Sep-2009 13:57:28 (UTC+8)
摘要 群體運動在現今的電玩、動畫或電影中，有十分重要的應用；透過群體性的運動，可以表現出故事背景設定的張力。在群體運動的模擬中，除了個體本身的運動行為模擬外，重要的是如何呈現出群體運動的整體效果。過去文獻中多數的群體運動模擬系統，要能在群體運動中呈現出特定形狀的效果，多需花費大量的時間反覆調整個體的模擬結果；個體本身的運動行為模型，則多採用虛擬力場的方式，被動的影響個體的運動，較缺乏直觀設定行為模型的方式。本論文的目標是建立一套人群模擬系統，此系統包括兩個部份：第一個部份是使用者可根據個人偏好設定群體運動理想中的外觀形狀，使此系統在模擬前能根據所輸入的環境資訊，利用運動計畫的方式，自動產生形體形變的路徑，以做為維持群體外形的參考目標。第二部份則是改進人群模擬時個體與群體的行為模型。我們利用模糊數學的特性，來表示行為模型以語意表達時的不確定性，使個體的行為能表現出貼近使用者所需求的結果。我們提出了三種類型的模糊行為模型與對應的原生動作，用以表現個體與群體的運動行為。根據我們實做出來的系統及實驗顯示，透過這樣的系統，我們可以利用程序化的方式為電腦動畫師產生具有特定群體外觀的群體模擬，減少其在製作相關動畫所需要的時間與技術成本，同時也提供了直觀的方式建立人群的行為模型，增加行為的豐富性。
The effects of crowd behavior are becoming indispensable in computer games and computer animation. In crowd simulation, beside the issue of simulating the motion for individual agents, the more important one is how to simulate a specific behavior of a crowd based on the motion of individuals. In order for a crowd to conform to a specific shape, most simulation systems reported in the literature require the users to spend a great amount of time in tuning the behavior parameters of each individual, governed by virtual forces computed according to inter-agent relations. In this thesis, we aim to build a system of crowd simulation consisting two parts: a path planner for a flexible shape and a motion controller with fuzzy logic. The path planner can search for a feasible path for a region of flexible shape allowing the user to set his preference on the shape of the crowd. The local motion controller for each agent is based on fuzzy logic rules that can be used to present the uncertainty of linguistic behavior models. We have proposed three types of fuzzy behavior models and their corresponding primitive actions. Our experiments show that, with this simulation system, we allow a computer animator to use an intuitive way to create specific appearance and richer.
參考文獻 [1] M. Anderson, E. McDaniel, and S. Chenney, “Constrained Animation of Flocks,” ACM Eurographics/SIGGRAPH Symposium on Computer Animation 2003, 2003.
[2] R. C. Arkin, Behavior-Based Robotics, The MIT Press, Combridge, London, 1998
[3] O. B. Bayazit, J.-M. Lien, and N. M. Amato, “Better Flocking Behaviors in Complex Environments Using Global Roadmaps,” in Proc. of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.528-534, 1995.
[4] S. Berman, M.A. Oliveira, Y. Edan and M. Jamshidi, “Hierarchical Fuzzy Behavior-Based Control of a Multi-Agent Robotic System,” in Proc. of the 7th IEEE Mediterranean Conf. on Control and Automation. June. 1999.
[5] A. Braun, S. R. Musse, Luiz. P. L. de Oliverira and Bardo E. J. Bodmann “Modeling Individual Behaviors in Crowd Simulation,” in Proc. of CASA ’03, 2003.
[6] J. J. Bryson, “The Behavior-Oriented Design of Modular Agent Intelligence,” Agent Techhologies, Infrastructures, Tools, and Applications for E-Services, pp.61-76, 2002.
[7] I. D. Couzin, J. Krause, N. R. Franks, and S. A. Levin, “Effective Leadership and Decision-making in Animal Groups on the Move,” Nature, 433, pp.512-516, 2005.
[8] N. Foster and R. Fedkiw, “Practical Animation of Liquids,” ACM SIGGRAPH Symposium on Computer Animation, 2001.
[9] J. C. Latombe, Robot Motion Planning, Kluwer, Boston, MA, 1991.
[10] T.Y. Li, H.C. Chou, “Motion Planning for a Crowd of Robots,” in Proc. of the 2003 International Conference on Robotics and Automation, September. 2003.
[11] T.Y. Li, Y.J. Jeng, and S.I. Chang, “Simulating Virtual Human Crowds with a Leader-Follower Model,” in Proc. of the 2001 Computer Animation Conference, pp.93-102, 2001.
[12] T. Y. Li, J. M. Lien, S. Y. Chiu and T. H. Yu , “Automatically Generating Virtual Guided Tours,” in Proc. of Computer Animation, 1999.
[13] J. Liu, J. Wu, Multi-Agent Robotic Systems, CRC Press, Washington, D.C.,2001.
[14] A. Kamphuis and M. H. Overmars, “Finding Path for Coherent Groups Using Clearance,” ACM SIGGRAPH/Eurographics Symposium on Computer Animation, pp.193-202, 2004.
[15] A. Kamphuis and M. H. Overmars, “Motion Planning for Coherent Groups of Entities,” in Proc. of the 2004 IEEE International Conference on Robotics and Automation, 2004
[16] Y. Koga, K. Kondo, J.J. Kuffner, and J.C. Latombe, “Planning motions with Intentions,” in Proc. of SIGGRAPH `94, pp. 395-408, 1994.
[17] F. Michaud, G. Lachiver, and C. T. Le Dinh, “Fuzzy Selection and Blending of Behaviors for Situated Autonomous Agent,” in Porc. of IEEE Intl. Conf. on Fuzzy Systems, pp. 258-264, Sep. 1996.
[18] R. A. Metoyer , J. K. Hodgins , “Reactive Pedestrian Path Following from Examples,” in Proc. of CASA’03 , pp.129, 2004.
[19] S. Patel, J. Cohen, A. Chu, and F. Pighin. “Fluid Simulation via Disjoint Translating Grids,” ACM SIGGRAPH, Los Angeles, 2005.
[20] N. Rasmussen, D. Enright, D. Nguyen, S. Marino, N. Sumner, W. Geiger, S. Hoon, R. Fedkiw, “Directable Photorealistic Liquids,” ACM SIGGRAPH/Eurographics Symposium on Computer Animation, pp.193-202, 2004.
[21] C. W. Reynolds, “Flocks, Herds, and Schools: A Distributed Behavioral Model,” Computer Graphics: ACM SIGGRAPH, pp.25-34, 1987.
[22] C. W. Reynolds. “Steering Behaviors for Autonomous Characters,” in Proc of 1999 Game Developers Conference, pp.763-782, 1999.
[23] M. Sung, M. Gleicher,and S. Chenney, “Scalable Behaviors for Crowd Simulation,” EUROGRAPHICS 2004, 23(3), 2004.
[24] A. Treuille, S. Copper, Z. Popovic, “Continuum Crowds,” in ACM Transactions on Graphics (SIGGRAPH 2006).
[25] E. Tunstel, “Mobile Robot Autonomy via Hierarchical Fuzzy Behavior Control,” 6th Intl. Symp. on Robotics & Manuf, pp. 837-842, May, 1996.
[26] E. Tunstel, H. Danny, T. Lippincott, and M. Jamshidi, “Adaptive Fuzzy-Behavior Hierarchy for Autonomous Navigation,” in Proc. of the IEEE Intl. Conf. on Robotics and Automation, pp. 829-834 , Apr. 1997
[27] E. Tunstel, H. Danny, T. Lippincott, and M. Jamshidi, “Autonomous Navigation using an Adaptive Hierarchy of Multiple Fuzzy-Behaviors,” in Proc. of Intl Symp on Computational Intelligence in Robotics and Automation, pp. 276-281 , July, 1997.
[28] E. Tunstel , H. Danny , T. Lippincott , and M. Jamshidi , “Behavior Hierarchy for Autonomous Mobile Robots: Fuzzy-Behavior Modulation and Evolution,” Intl. J. of Intelligent Automation and Soft Computing, 3(1):37-49, July, 1997.
[29] E. Tunstel, H. Danny, T. Lippincott, and M. Jamshidi, “Fuzzy Behavior-based Navigation for Planetary Microrovers,” in Proc. of the NASA University Research Center Technical Conference, Albuquerque, NM, pp. 729-734, Feb. 1997.
[30] F. Y. Wang, “Agent-Based Control for Fuzzy Behavior Programming in Robotic Excavation,” IEEE Transcations on Fuzzy Systems, 12(4), Aug. 2004.
[31] M. Wrenninge, D. Roble, “Fluid Simulation Interaction Techniques,” in Proc. of SIGGRAPH ’03, 2003.
[32] 楊英魁, Fuzzy實用化範例—用C語言, 全華, 1992
[33] 林信成, Oh! Fuzzy模糊理論剖析, 第三波, 1994
[34] 孫宗瀛, Fuzzy控制 理論、實作與應用, 全華, 1994
[35] 陳文基, 扁平足弓和正常足弓走與跑之生物力學研究, 國立體育學院, 2002
[36] 俞文釗, 管理心理學, 五南, 1994
描述 碩士
國立政治大學
資訊科學學系
93753014
95
資料來源 http://thesis.lib.nccu.edu.tw/record/#G0093753014
資料類型 thesis
dc.contributor.advisor 李蔡彥zh_TW
dc.contributor.advisor Li,Tsai-Yenen_US
dc.contributor.author (Authors) 張仁耀zh_TW
dc.contributor.author (Authors) Chang,Jen-Yaoen_US
dc.creator (作者) 張仁耀zh_TW
dc.creator (作者) Chang,Jen-Yaoen_US
dc.date (日期) 2006en_US
dc.date.accessioned 17-Sep-2009 13:57:28 (UTC+8)-
dc.date.available 17-Sep-2009 13:57:28 (UTC+8)-
dc.date.issued (上傳時間) 17-Sep-2009 13:57:28 (UTC+8)-
dc.identifier (Other Identifiers) G0093753014en_US
dc.identifier.uri (URI) https://nccur.lib.nccu.edu.tw/handle/140.119/32654-
dc.description (描述) 碩士zh_TW
dc.description (描述) 國立政治大學zh_TW
dc.description (描述) 資訊科學學系zh_TW
dc.description (描述) 93753014zh_TW
dc.description (描述) 95zh_TW
dc.description.abstract (摘要) 群體運動在現今的電玩、動畫或電影中，有十分重要的應用；透過群體性的運動，可以表現出故事背景設定的張力。在群體運動的模擬中，除了個體本身的運動行為模擬外，重要的是如何呈現出群體運動的整體效果。過去文獻中多數的群體運動模擬系統，要能在群體運動中呈現出特定形狀的效果，多需花費大量的時間反覆調整個體的模擬結果；個體本身的運動行為模型，則多採用虛擬力場的方式，被動的影響個體的運動，較缺乏直觀設定行為模型的方式。本論文的目標是建立一套人群模擬系統，此系統包括兩個部份：第一個部份是使用者可根據個人偏好設定群體運動理想中的外觀形狀，使此系統在模擬前能根據所輸入的環境資訊，利用運動計畫的方式，自動產生形體形變的路徑，以做為維持群體外形的參考目標。第二部份則是改進人群模擬時個體與群體的行為模型。我們利用模糊數學的特性，來表示行為模型以語意表達時的不確定性，使個體的行為能表現出貼近使用者所需求的結果。我們提出了三種類型的模糊行為模型與對應的原生動作，用以表現個體與群體的運動行為。根據我們實做出來的系統及實驗顯示，透過這樣的系統，我們可以利用程序化的方式為電腦動畫師產生具有特定群體外觀的群體模擬，減少其在製作相關動畫所需要的時間與技術成本，同時也提供了直觀的方式建立人群的行為模型，增加行為的豐富性。zh_TW
dc.description.abstract (摘要) The effects of crowd behavior are becoming indispensable in computer games and computer animation. In crowd simulation, beside the issue of simulating the motion for individual agents, the more important one is how to simulate a specific behavior of a crowd based on the motion of individuals. In order for a crowd to conform to a specific shape, most simulation systems reported in the literature require the users to spend a great amount of time in tuning the behavior parameters of each individual, governed by virtual forces computed according to inter-agent relations. In this thesis, we aim to build a system of crowd simulation consisting two parts: a path planner for a flexible shape and a motion controller with fuzzy logic. The path planner can search for a feasible path for a region of flexible shape allowing the user to set his preference on the shape of the crowd. The local motion controller for each agent is based on fuzzy logic rules that can be used to present the uncertainty of linguistic behavior models. We have proposed three types of fuzzy behavior models and their corresponding primitive actions. Our experiments show that, with this simulation system, we allow a computer animator to use an intuitive way to create specific appearance and richer.en_US
dc.description.tableofcontents 第一章 導論 1
1.1. 簡介與研究動機 1
1.2. 研究目標 3
1.3. 論文貢獻 5
1.4. 本論文之章節架構 6
第二章 相關研究 7
2.1. 運動計畫演算法 7
2.2. 群體運動模擬 8
2.3. 粒子系統 10
2.4. 模糊行為 12
第三章 定面積可變形體的運動計畫 13
3.1. 系統概觀 13
3.2. 問題定義 14
3.2.1 組態空間的定義 14
3.2.2 組態覆蓋圖，Configuration Coverage MAP (CCMAP) 15
3.2.3 產生物體形變演算法 17
3.3. 運動計畫器 18
3.3.1 運動計畫器的目標函數 18
3.3.2 運動計畫器演算法 19
3.4. 移動路徑平滑化 21
3.5. 實驗結果與討論 22
3.5.1 不同面積的運動計畫比較 22
3.5.2 不同權重值的運動計畫比較 25
3.5.3 複雜場景實驗 27
第四章 具有樣板參考的定面積可變形體運動計畫 29
4.1. 樣板形狀的路徑規畫 29
4.1.1 目標函數 29
4.1.2 產生新形變組態與計算形狀分數 30
4.1.3 組態涵蓋圖的變動 31
4.1.4 所遇到的瓶頸 32
4.2. 樣板運動計畫器 32
4.2.1 目標函數 33
4.2.2 運動計畫器演算法 34
4.3. 樣板路徑的平滑化 35
4.4. 利用樣板組態產生形變組態 36
4.5. 實驗結果與結論 38
第五章 模糊行為模型 42
5.1. 模糊控制系統簡介 43
5.1.1 模糊邏輯與模糊化(fuzzy logic and fuzzify) 43
5.1.2 模糊蘊含式(fuzzy implication) 46
5.1.3 模糊推論與解模糊化(fuzzy inference and defuzzify) 46
5.2. 模糊行為模型 48
5.2.1 個體自身行為類型(intra-agent type) 49
5.2.2 被動類型(reactive type) 50
5.2.3 個體間互動類型(inter-agent type) 51
5.3. 行為的模糊規則表示法 52
5.4. 行為模型的實驗 55
5.4.1 單一個體的運動模擬 55
5.4.2 多個體的群體運動模擬 56
第六章 運動計劃器與模糊行為模型整合實驗 58
6.1. 實驗環境與系統流程 58
6.2. 不同樣板形狀的效用測試 59
6.2.1 實驗設計 59
6.2.2 實驗結論 59
6.3. 不同個體數量的效用測試 62
6.3.1 實驗設計 62
6.3.2 實驗結論 62
6.4. 包含零星障礙物的複雜場景測試 63
6.4.1 實驗設計 63
6.4.2 實驗結論 63
第七章 結論與未來發展 65
7.1. 結論 65
7.2. 未來發展 65
參考文獻 67
A 附錄 模糊行為模型設計 70
A.1 模糊行為模型 70
A.1.1 維持速度 70
A.1.2 目標定位 72
A.1.3 維持形狀 75
A.1.4 與其他個體避碰 75
A.1.5 與障礙物避碰 76
A.1.6 形成群體 78
A.2 物理狀態限制 81
A.2.1 個體的瞬時轉向角速度 81
A.2.2 對障礙物和其他個體的避碰 82		zh_TW
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dc.language.iso en_US-
dc.source.uri (資料來源) http://thesis.lib.nccu.edu.tw/record/#G0093753014en_US
dc.subject (關鍵詞) 運動計畫zh_TW
dc.subject (關鍵詞) 群體模擬zh_TW
dc.subject (關鍵詞) 模糊規則zh_TW
dc.subject (關鍵詞) Motion Planningen_US
dc.subject (關鍵詞) Crowd Simulationen_US
dc.subject (關鍵詞) Fuzzy Ruleen_US
dc.title (題名) 以可變形體物體之運動計畫及模糊規則實現人群模擬zh_TW
dc.title (題名) Simulating Virtual Crowd by Motion Planning for Reshapable Object and Fuzzy Rulesen_US
dc.type (資料類型) thesisen
dc.relation.reference (參考文獻) [1] M. Anderson, E. McDaniel, and S. Chenney, “Constrained Animation of Flocks,” ACM Eurographics/SIGGRAPH Symposium on Computer Animation 2003, 2003.zh_TW
dc.relation.reference (參考文獻) [2] R. C. Arkin, Behavior-Based Robotics, The MIT Press, Combridge, London, 1998zh_TW
dc.relation.reference (參考文獻) [3] O. B. Bayazit, J.-M. Lien, and N. M. Amato, “Better Flocking Behaviors in Complex Environments Using Global Roadmaps,” in Proc. of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.528-534, 1995.zh_TW
dc.relation.reference (參考文獻) [4] S. Berman, M.A. Oliveira, Y. Edan and M. Jamshidi, “Hierarchical Fuzzy Behavior-Based Control of a Multi-Agent Robotic System,” in Proc. of the 7th IEEE Mediterranean Conf. on Control and Automation. June. 1999.zh_TW
dc.relation.reference (參考文獻) [5] A. Braun, S. R. Musse, Luiz. P. L. de Oliverira and Bardo E. J. Bodmann “Modeling Individual Behaviors in Crowd Simulation,” in Proc. of CASA ’03, 2003.zh_TW
dc.relation.reference (參考文獻) [6] J. J. Bryson, “The Behavior-Oriented Design of Modular Agent Intelligence,” Agent Techhologies, Infrastructures, Tools, and Applications for E-Services, pp.61-76, 2002.zh_TW
dc.relation.reference (參考文獻) [7] I. D. Couzin, J. Krause, N. R. Franks, and S. A. Levin, “Effective Leadership and Decision-making in Animal Groups on the Move,” Nature, 433, pp.512-516, 2005.zh_TW
dc.relation.reference (參考文獻) [8] N. Foster and R. Fedkiw, “Practical Animation of Liquids,” ACM SIGGRAPH Symposium on Computer Animation, 2001.zh_TW
dc.relation.reference (參考文獻) [9] J. C. Latombe, Robot Motion Planning, Kluwer, Boston, MA, 1991.zh_TW
dc.relation.reference (參考文獻) [10] T.Y. Li, H.C. Chou, “Motion Planning for a Crowd of Robots,” in Proc. of the 2003 International Conference on Robotics and Automation, September. 2003.zh_TW
dc.relation.reference (參考文獻) [11] T.Y. Li, Y.J. Jeng, and S.I. Chang, “Simulating Virtual Human Crowds with a Leader-Follower Model,” in Proc. of the 2001 Computer Animation Conference, pp.93-102, 2001.zh_TW
dc.relation.reference (參考文獻) [12] T. Y. Li, J. M. Lien, S. Y. Chiu and T. H. Yu , “Automatically Generating Virtual Guided Tours,” in Proc. of Computer Animation, 1999.zh_TW
dc.relation.reference (參考文獻) [13] J. Liu, J. Wu, Multi-Agent Robotic Systems, CRC Press, Washington, D.C.,2001.zh_TW
dc.relation.reference (參考文獻) [14] A. Kamphuis and M. H. Overmars, “Finding Path for Coherent Groups Using Clearance,” ACM SIGGRAPH/Eurographics Symposium on Computer Animation, pp.193-202, 2004.zh_TW
dc.relation.reference (參考文獻) [15] A. Kamphuis and M. H. Overmars, “Motion Planning for Coherent Groups of Entities,” in Proc. of the 2004 IEEE International Conference on Robotics and Automation, 2004zh_TW
dc.relation.reference (參考文獻) [16] Y. Koga, K. Kondo, J.J. Kuffner, and J.C. Latombe, “Planning motions with Intentions,” in Proc. of SIGGRAPH `94, pp. 395-408, 1994.zh_TW
dc.relation.reference (參考文獻) [17] F. Michaud, G. Lachiver, and C. T. Le Dinh, “Fuzzy Selection and Blending of Behaviors for Situated Autonomous Agent,” in Porc. of IEEE Intl. Conf. on Fuzzy Systems, pp. 258-264, Sep. 1996.zh_TW
dc.relation.reference (參考文獻) [18] R. A. Metoyer , J. K. Hodgins , “Reactive Pedestrian Path Following from Examples,” in Proc. of CASA’03 , pp.129, 2004.zh_TW
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