Netlogo，創建障礙避免算法

Question

我模擬NetLogo中的行人運動，並且無法從頭開始創建障礙避免算法。有在線算法，但不適合移動障礙物（其他行人）。另外，我的特工正在從他們的出生點（A點）移動到他們的目標（B點）。

這是我的NetLogo算法：

globals [ wall walkway center dest ] 
turtles-own [ gender goal velocity spawnpoint mid turn ] 

to setup 
    clear-all 
    ask patches[ 
set wall patches with [ 
    (pxcor > 3 and pycor > 3) or 
    (pxcor < -3 and pycor > 3) or 
    (pxcor < -3 and pycor < -3) or 
    (pxcor > 3 and pycor < -3) 
    ] 
set walkway patches with [ 
    (pxcor > -4 and pxcor < 4) or 
    (pycor > -4 and pycor < 4) 
] 

set center patch 0 0 
    ] 

    ask patches [ 
set pcolor black 
    ] 

    ask walkway [ 
set pcolor 9 
    ] 

    crt population [ 
set velocity 0.1 
set mid 0 

set gender random 2 
if gender = 0 [set color red] 
if gender = 1 [set color blue] 

set spawnpoint random 4 
if spawnpoint = 0 [ move-to one-of walkway with [not any? turtles-here and (pxcor < -11)]] 
if spawnpoint = 1 [ move-to one-of walkway with [not any? turtles-here and (pycor > 11)]] 
if spawnpoint = 2 [ move-to one-of walkway with [not any? turtles-here and (pxcor > 11)]] 
if spawnpoint = 3 [ move-to one-of walkway with [not any? turtles-here and (pycor < -11)]] 

set goal random 4 
while [ goal = spawnpoint ] [ set goal random 4 ] 
if spawnpoint != 0 and goal = 0 [set goal patch -16 0] 
if spawnpoint != 1 and goal = 1 [set goal patch 0 16] 
if spawnpoint != 2 and goal = 2 [set goal patch 16 0] 
if spawnpoint != 3 and goal = 3 [set goal patch 0 -16] 
    ] 

    reset-ticks 

end 
to decelerate 
    ifelse velocity > 0.01 
    [ set velocity velocity - 0.01 ] 
    [ rt 5 ] 
end 

to accelerate 
    if velocity < 0.1 
    [ set velocity velocity + 0.01 ] 
end 

to go 

    ask turtles [ 
    ifelse patch-here != goal[ 
    set turn random 2 
    if distance center < 3 [ set mid 1] 
    if mid = 0 [ set dest center ] 
    if mid = 1 [ set dest goal ] 
    face dest 
    ifelse any? other turtles-on patches in-cone 1.5 60 
     [ if any? other turtles-on patches in-cone 1.5 60 
     [ bk velocity 
      rt 90 ] ] 
     [ accelerate 
     face dest 
     fd velocity ] 
    ] 
    [ die ] 

    ] 
end 

這個仿真的模擬環境是一個交集：

http://imgur.com/nQzhA7g,R5ZYJrp#0

（對不起，我需要10個代表處，發佈圖片:(）

圖1顯示了設置後的環境狀態圖2顯示了代理移動到他們的目標後發生了什麼（目標！= ir spawnpoint）。面對不同方向的代理商展示了經過中心代理商混亂的代理商，現在正在實現他們的目標。然而，中心的代理因爲我的算法而停留在那裏。當代理人數量更多時，模擬問題更加嚴重，這意味着他們只會在環境中心雜亂無章，而且在移動時只會出現口吃。

我基於我的算法http://files.bookboon.com/ai/Vision-Cone-Example-2.html。原諒我的算法，我在一週前開始在NetLogo中編程，直到現在我仍然沒有正確的編程思維。我確信有一個更好的方法來實現我的想法，但是，當我試圖想到許多實現時（但從未接近真實的事物），我感到沮喪。

P.S：這是我在StackOverflow中的第一篇文章/問題！我希望我的問題（和我提問的方式）不錯。

Answer 1

這是最簡單的工作版本我能想出：

turtles-own [ goal dest velocity ] 

to setup 
    clear-all 
    let walkway-color white - 1 
    ask patches [ 
    set pcolor ifelse-value (abs pxcor < 4 or abs pycor < 4) [ walkway-color ] [ black ] 
    ] 
    let goals (patch-set patch -16 0 patch 0 16 patch 16 0 patch 0 -16) 
    ask n-of population patches with [ pcolor = walkway-color and distance patch 0 0 > 10 ] [ 
    sprout 1 [ 
     set velocity 0.1 
     set color one-of [ red blue ] ; representing gender 
     set dest patch 0 0 ; first head towards center 
     set goal one-of goals with [ distance myself > 10 ] 
    ] 
    ] 
    reset-ticks 
end 

to go 
    ask turtles [ 
    if patch-here = goal [ die ] ; the rest will not execute 
    if dest = patch 0 0 and distance patch 0 0 < 3 [ set dest goal ] 
    face dest 
    if-else any? other turtles in-cone 1.5 60 
     [ rt 5 
     bk velocity ] 
     [ fd velocity ] 
    ] 
    tick 
end 

除了事實上，我完全重寫你的安裝過程，它不是從你自己的版本不同。我認爲你的主要問題在轉彎之前有所支持：因爲你在下一個go週期開始時再次，你的rt基本上是無用的。