Social Force

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Social Force#

Helbing, D. and Molnar, P., 1995. Social force model for pedestrian dynamics. Physical review E, 51(5), p.4282.

The social force model is a physics-inspired model that introduces potential fields to model the interaction with obstacles and neighbors. Our Python implementation follow the original paper.

Example#

The video has been recorded using

$ navground_py record_video social_force.yaml social_force.mp4 --factor 5

with the following configuration

steps: 1000
time_step: 0.1
scenario:
  type: Cross
  agent_margin: 0.1
  side: 4
  target_margin: 0.1
  tolerance: 0.5
  groups:
    -
      type: thymio
      number: 20
      radius: 0.08
      control_period: 0.1
      speed_tolerance: 0.02
      kinematics:
        type: 2WDiff
        wheel_axis: 0.094
        max_speed: 0.166
      state_estimation:
        type: Bounded
        range: 5.0
      behavior:
        type: SocialForce
        optimal_speed: 0.12
        horizon: 5.0
        safety_margin: 0.02
        v_r: 0.15
        v_a: 0.1
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