A Generalized Dynamic Potential Energy Model for Multiagent Path Planning

Table 1

Parameters, variables, and abbreviations.

	The ID of an agent	()	The location of the cell
	Time step of simulation	dir	The direction of the agent walking ahead
	Time of k^th time step		The velocity decline of agent q with space occupation walking through the cell with
	Space occupation by the agent		The distance to the adjacent cell by direction dir
	Space occupied by the obstacle		The waiting potential energy dissipation coefficient of agent q
	Change rate of during a time step		The waiting potential energy enhancement coefficient of agent
	The expected speed of agent q.		Space potential energy of agent q in cell ()
SO	Stationary obstacle		Delay potential energy of agent q in cell () at
MG	Male group		Waiting potential energy of agent q in cell () at
FG	Female group		Generalized dynamic potential energy of agent q in cell () at