抄録
This paper describes people movement simulation in public space such as shopping centers and cafeteria. We decompose people movements into global and local ones, and make a model for each of them. The global movement corresponds to following a route from the current position to the destination, and is represented by a path on a spatial network whose nodes are defined as divided regions of the whole environment. The local movement is the behavior that a person avoids surrounding people and obstacles, and is modeled by a potential method. We also model the behaviors specific to the cafeteria, such as queuing and the search of free seats. As an application of the simulator, we developed a path planning simulation environment by combining the simulator and a path planner. We performed various simulation experiments on people movement and robot path planning. Experimental results show the effectiveness of the simulation.
