自主虚拟人关键技术的研究
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摘要
自主虚拟人技术在虚拟空间中对人类的形态、运动、行为和认知方式进行模拟,其目的是使虚拟人能够在没有外界干预的条件下,根据外在与内在的条件进行自主的行为选择与控制。随着虚拟人角色越来越多地出现在虚拟训练、工业设计、娱乐等各种应用中,人们对虚拟人的智能化和自主程度提出了更高的要求,使得自主虚拟人成为了虚拟人研究中的热点问题之一。针对目前自主虚拟人控制技术中存在的问题,本文对运动控制、感知、路径规划和行为控制等关键性技术进行了研究。
本文首先对虚拟人四肢的运动控制技术进行了研究。将神经科学中的可操作性矩阵应用于控制过程,并与动态插值方法及逆向运动学优化求解方法相结合,用于生成符合人体运动规律的动作数据。在多障碍环境中,该控制方法可以实时生成无碰撞的四肢动作。
其次,基于对人类感官的生理特性和感知特征的分析,本文建立了虚拟人感知模型。该模型具有视觉、听觉、触觉、记忆等功能,在对人类感知局限性进行模拟的同时,也实现了感知结果对感知过程的反馈影响。
此外,根据虚拟人路径规划的特点,本文将全局规划算法与局部规划算法相结合,建立了基于混合感知信息的虚拟人路径规划模型。该模型既能够依据虚拟人记忆中的已知环境信息,规划出全局优化的运动路线,也能够通过运动方向与速度的调整,实时躲避动态或未知的障碍。
本文对虚拟人行为系统进行了建模,实现了虚拟人的自主行为选择,以及从抽象行为到运动与动作数据流的推理。然后提出了一种混合的行为控制结构,并按照该结构将感知、规划、运动和行为等系统模型相结合,建立了完整的自主虚拟人行为控制模型。
最后,本文将上述行为控制模型应用于工业设计领域,开发了基于虚拟人技术的人机工程测试系统。该系统能够实现对工业产品与作业空间的可达域和可视域测试,并给出测试过程的虚拟人动画。该系统的开发过程也验证了行为控制模型具有一定的灵活性与可扩展性,为自主虚拟人在虚拟现实、动画制作和工业应用中的行为控制提供了参考。
The technology of autonomous virtual human simulates the figure, motion, behavior and cognitive style of human beings in virtual environment. The research aim is to enable the characters to choose and control own behaviors according to the internal and external conditions without user intervention. With more and more virtual characters appearing in the applications of virtual training, industry designing and entertainment, people bring up higher requirements to the intelligence and autonomy of virtual human.Therefore, the autonomous virtual human has become a hotspot in the research field of virtual human. To solving the problems in the control of autonomous virtual human, this paper studied on some key technologies, such as motion control, perception, path plan and behavior control.
Fistly, this paper studied on the control method of limbs motion of virtual human. The manipulability matrix from neuroscience was employed in the process, and combined with dynamic interpolation and optimal solution of IK to obtain actions according with the motion rules of human limbs. In multi-obstacle enviorment, this control method can generate conlision-free animation in real time.
Secondly, the perception model of virtual human was established by analyzing the physiological characters and perceptive behaviors of human’s sense organs. The model provides the perceptive faculties of vision, audition, touch and memory. While simulated the perceptive limitation of human beings, this model also realized the feedback influence of results on perceptive process.
According to the specialties of the planning problem of virtual human, this paper integrated the arithmetic of global and local planning to establish the path planning model based on mixing information, which can obtain an optimum path according to the known condition in memory, and then evade dynamic or unknown obstacles by adjusting moving direction and velocity in real time.
An autonomous behavior system was established in the paper, which realized the autonomous behavior choosing and decomposing from abstract behaviors to motion and action streams. Then a mixing behavior control archtechture was presented. Based on this archtechture, the perception, planning, motion and behavior systems was intergrated to establish a whole behavior control model of autonomous virtual human.
Finally, this paper applied the behavior control model into industrial design field, and developed an ergonomics system based on virtual human technology. The system realized the evaluation of accessibility and visibility of productions or working spaces, and animation of evaluating process can be generated. By applied into this system, the behavior control model was validated to be extensible and flexible.
本文首先对虚拟人四肢的运动控制技术进行了研究。将神经科学中的可操作性矩阵应用于控制过程,并与动态插值方法及逆向运动学优化求解方法相结合,用于生成符合人体运动规律的动作数据。在多障碍环境中,该控制方法可以实时生成无碰撞的四肢动作。
其次,基于对人类感官的生理特性和感知特征的分析,本文建立了虚拟人感知模型。该模型具有视觉、听觉、触觉、记忆等功能,在对人类感知局限性进行模拟的同时,也实现了感知结果对感知过程的反馈影响。
此外,根据虚拟人路径规划的特点,本文将全局规划算法与局部规划算法相结合,建立了基于混合感知信息的虚拟人路径规划模型。该模型既能够依据虚拟人记忆中的已知环境信息,规划出全局优化的运动路线,也能够通过运动方向与速度的调整,实时躲避动态或未知的障碍。
本文对虚拟人行为系统进行了建模,实现了虚拟人的自主行为选择,以及从抽象行为到运动与动作数据流的推理。然后提出了一种混合的行为控制结构,并按照该结构将感知、规划、运动和行为等系统模型相结合,建立了完整的自主虚拟人行为控制模型。
最后,本文将上述行为控制模型应用于工业设计领域,开发了基于虚拟人技术的人机工程测试系统。该系统能够实现对工业产品与作业空间的可达域和可视域测试,并给出测试过程的虚拟人动画。该系统的开发过程也验证了行为控制模型具有一定的灵活性与可扩展性,为自主虚拟人在虚拟现实、动画制作和工业应用中的行为控制提供了参考。
The technology of autonomous virtual human simulates the figure, motion, behavior and cognitive style of human beings in virtual environment. The research aim is to enable the characters to choose and control own behaviors according to the internal and external conditions without user intervention. With more and more virtual characters appearing in the applications of virtual training, industry designing and entertainment, people bring up higher requirements to the intelligence and autonomy of virtual human.Therefore, the autonomous virtual human has become a hotspot in the research field of virtual human. To solving the problems in the control of autonomous virtual human, this paper studied on some key technologies, such as motion control, perception, path plan and behavior control.
Fistly, this paper studied on the control method of limbs motion of virtual human. The manipulability matrix from neuroscience was employed in the process, and combined with dynamic interpolation and optimal solution of IK to obtain actions according with the motion rules of human limbs. In multi-obstacle enviorment, this control method can generate conlision-free animation in real time.
Secondly, the perception model of virtual human was established by analyzing the physiological characters and perceptive behaviors of human’s sense organs. The model provides the perceptive faculties of vision, audition, touch and memory. While simulated the perceptive limitation of human beings, this model also realized the feedback influence of results on perceptive process.
According to the specialties of the planning problem of virtual human, this paper integrated the arithmetic of global and local planning to establish the path planning model based on mixing information, which can obtain an optimum path according to the known condition in memory, and then evade dynamic or unknown obstacles by adjusting moving direction and velocity in real time.
An autonomous behavior system was established in the paper, which realized the autonomous behavior choosing and decomposing from abstract behaviors to motion and action streams. Then a mixing behavior control archtechture was presented. Based on this archtechture, the perception, planning, motion and behavior systems was intergrated to establish a whole behavior control model of autonomous virtual human.
Finally, this paper applied the behavior control model into industrial design field, and developed an ergonomics system based on virtual human technology. The system realized the evaluation of accessibility and visibility of productions or working spaces, and animation of evaluating process can be generated. By applied into this system, the behavior control model was validated to be extensible and flexible.
引文
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