Research Article
A Generalized Dynamic Potential Energy Model for Multiagent Path Planning
Table 4
Relationship between speed decline rate and space occupation.
| Sex | Luggage | ρ (%) | Obstacle type | Obstacle occupation μ | 0% | 10% | 20% | 30% | 40% | 50% | 60% | 70% | 80% | 90% | 100% |
| Male | None | 27 | Stationary obstacle (SO) | 100% | 98% | 95% | 84% | 76% | 61% | 40% | 10% | 1% | 0% | 0% | Bag | 33 | 100% | 93% | 90% | 78% | 67% | 52% | 21% | 3% | 1% | 0% | 0% | Knapsack | 34 | 100% | 95% | 91% | 80% | 71% | 57% | 33% | 7% | 1% | 0% | 0% | Suitcase | 94 | 100% | 61% | 24% | 11% | 3% | 2% | 0% | 0% | 0% | 0% | 0% | Female | None | 17 | 100% | 96% | 90% | 81% | 72% | 54% | 35% | 12% | 2% | 0% | 0% | Bag | 27 | 100% | 92% | 88% | 75% | 62% | 47% | 15% | 2% | 0% | 0% | 0% | Knapsack | 22 | 100% | 94% | 86% | 78% | 65% | 50% | 22% | 3% | 1% | 0% | 0% | Suitcase | 88 | 100% | 35% | 5% | 2% | 1% | 1% | 0% | 0% | 0% | 0% | 0% |
| Male | None | 27 | Male group (MG) | 100% | 95% | 88% | 75% | 63% | 49% | 33% | 10% | 3% | 1% | 0% | Bag | 33 | 100% | 90% | 80% | 69% | 54% | 38% | 15% | 5% | 2% | 0% | 0% | Knapsack | 34 | 100% | 91% | 82% | 71% | 58% | 42% | 20% | 6% | 2% | 0% | 0% | Suitcase | 94 | 100% | 40% | 12% | 5% | 2% | 1% | 1% | 0% | 0% | 0% | 0% | Female | None | 17 | 100% | 90% | 78% | 47% | 21% | 7% | 2% | 0% | 0% | 0% | 0% | Bag | 27 | 100% | 85% | 70% | 41% | 18% | 5% | 1% | 0% | 0% | 0% | 0% | Knapsack | 22 | 100% | 88% | 72% | 42% | 18% | 6% | 1% | 0% | 0% | 0% | 0% | Suitcase | 88 | 100% | 40% | 10% | 5% | 4% | 3% | 2% | 1% | 0% | 0% | 0% |
| Male | None | 27 | Female group (FG) | 100% | 95% | 87% | 69% | 47% | 30% | 8% | 0% | 0% | 0% | 0% | Bag | 33 | 100% | 92% | 82% | 60% | 38% | 15% | 5% | 0% | 0% | 0% | 0% | Knapsack | 34 | 100% | 92% | 83% | 65% | 41% | 15% | 2% | 0% | 0% | 0% | 0% | Suitcase | 94 | 100% | 33% | 8% | 5% | 3% | 0% | 0% | 0% | 0% | 0% | 0% | Female | None | 17 | 100% | 94% | 82% | 72% | 54% | 41% | 30% | 12% | 5% | 0% | 0% | Bag | 27 | 100% | 88% | 75% | 58% | 41% | 29% | 12% | 2% | 1% | 0% | 0% | Knapsack | 22 | 100% | 88% | 76% | 60% | 43% | 32% | 18% | 2% | 1% | 0% | 0% | Suitcase | 88 | 100% | 35% | 10% | 3% | 2% | 1% | 0% | 0% | 0% | 0% | 0% |
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