{"id":24063,"date":"2021-02-27T22:46:43","date_gmt":"2021-02-27T14:46:43","guid":{"rendered":"https:\/\/swarma.org\/?p=24063"},"modified":"2021-02-27T22:46:43","modified_gmt":"2021-02-27T14:46:43","slug":"%e4%bb%80%e4%b9%88%e6%98%af%e9%b8%9f%e7%be%a4%e7%ae%97%e6%b3%95-%e9%9b%86%e6%99%ba%e7%99%be%e7%a7%91","status":"publish","type":"post","link":"https:\/\/swarma.org\/?p=24063","title":{"rendered":"\u4ec0\u4e48\u662f\u9e1f\u7fa4\u7b97\u6cd5 | \u96c6\u667a\u767e\u79d1"},"content":{"rendered":"
<\/p>\n

\u201c\u96c6\u667a\u767e\u79d1\u7cbe\u9009\u201d\u662f\u4e00\u4e2a\u957f\u671f\u4e13\u680f\uff0c\u6301\u7eed\u4e3a\u5927\u5bb6\u63a8\u9001\u590d\u6742\u6027\u79d1\u5b66\u76f8\u5173\u7684\u57fa\u672c\u6982\u5ff5\u548c\u8d44\u6e90\u4fe1\u606f\u3002\u4f5c\u4e3a\u96c6\u667a\u4ff1\u4e50\u90e8\u7684\u5f00\u6e90\u79d1\u5b66\u9879\u76ee\uff0c\u96c6\u667a\u767e\u79d1\u5e0c\u671b\u6253\u9020\u590d\u6742\u6027\u79d1\u5b66\u9886\u57df\u6700\u5168\u9762\u7684\u767e\u79d1\u5168\u4e66\uff0c\u6b22\u8fce\u5bf9\u590d\u6742\u6027\u79d1\u5b66\u611f\u5174\u8da3\u3001\u70ed\u7231\u77e5\u8bc6\u6574\u7406\u548c\u5206\u4eab\u7684\u670b\u53cb\u52a0\u5165\uff01<\/p>\n

\u672c\u6587\u662f\u5bf9\u96c6\u667a\u767e\u79d1\u4e2d\u201c\u9e1f\u7fa4\u7b97\u6cd5\u201d\u8bcd\u6761\u7684\u6458\u5f55\uff0c\u53c2\u8003\u8d44\u6599\u53ca\u76f8\u5173\u8bcd\u6761\u8bf7\u53c2\u9605\u767e\u79d1\u8bcd\u6761\u539f\u6587\u3002
\u672c\u8bcd\u6761\u7531\u96c6\u667a\u4ff1\u4e50\u90e8\u4f17\u5305\u751f\u4ea7\uff0c\u96be\u514d\u5b58\u5728\u7eb0\u6f0f\u548c\u95ee\u9898\uff0c\u6b22\u8fce\u5927\u5bb6\u7559\u8a00\u53cd\u9988\u6216\u8005\u524d\u5f80\u5bf9\u5e94\u7684\u767e\u79d1\u8bcd\u6761\u9875\u9762\u8fdb\u884c\u4fee\u6539\uff0c\u4e00\u7ecf\u4fee\u6539\uff0c\u53ef\u4ee5\u83b7\u5f97\u5bf9\u5e94\u7684\u79ef\u5206\u5956\u52b1\u5662\uff01
\u672c\u8bcd\u6761\u7531\u96c6\u667a\u4ff1\u4e50\u90e8\u4f17\u5305\u751f\u4ea7\uff0c\u96be\u514d\u5b58\u5728\u7eb0\u6f0f\u548c\u95ee\u9898\uff0c\u6b22\u8fce\u5927\u5bb6\u7559\u8a00\u53cd\u9988\u6216\u8005\u524d\u5f80\u5bf9\u5e94\u7684\u767e\u79d1\u8bcd\u6761\u9875\u9762\u8fdb\u884c\u4fee\u6539\uff0c\u4e00\u7ecf\u4fee\u6539\uff0c\u53ef\u4ee5\u83b7\u5f97\u5bf9\u5e94\u7684\u79ef\u5206\u5956\u52b1\u5662\uff01<\/p>\n

\u76ee\u5f55<\/p>\n

\u4e00\u3001\u7b97\u6cd5\u4ecb\u7ecd\u4e8c\u3001\u4ee3\u7801\u5b9e\u73b0\u4e09\u3001\u7f16\u8005\u63a8\u8350\u56db\u3001\u96c6\u667a\u767e\u79d1\u8bcd\u6761\u5fd7\u613f\u8005\u62db\u52df<\/p>\n


\u9e1f\u7fa4\u7b97\u6cd5 Boids\u662f\u6a21\u62df\u9e1f\u7c7b\u7fa4\u96c6\u884c\u4e3a\u7684\u4eba\u5de5\u751f\u547d\u9879\u76ee\uff0c\u7531\u514b\u96f7\u683c\u00b7\u96f7\u8bfa\u5179 Craig Reynolds\u4e8e1986\u5e74\u5f00\u53d1\u3002\u8be5\u6a21\u578b\u5e38\u7528\u4e8e\u8ba1\u7b97\u673a\u52a8\u753b\u6216\u8ba1\u7b97\u673a\u8f85\u52a9\u8bbe\u8ba1\u7684\u8ba1\u7b97\u673a\u4e09\u7ef4\u51e0\u4f55\u3002\u4ed6\u5173\u4e8e\u8fd9\u4e2a\u4e3b\u9898\u7684\u8bba\u6587\u53d1\u8868\u57281987\u5e74\u7684 ACM SIGGRAPH\uff08\u7f8e\u56fd\u8ba1\u7b97\u673a\u534f\u4f1a\u8ba1\u7b97\u673a\u56fe\u5f62\u4e13\u4e1a\u7ec4\u7ec4\u7ec7\u7684\u8ba1\u7b97\u673a\u56fe\u5f62\u5b66\u9876\u7ea7\u5e74\u5ea6\u4f1a\u8bae\uff09\u4f1a\u8bae\u8bb0\u5f55\u4e0a\u3002\u201c boid\u201d\u662f\u201c bird-oid object\u201d\u7684\u7f29\u5199\uff0c\u6307\u4e00\u4e2a\u7c7b\u9e1f\u5bf9\u8c61\u3002\u6070\u5de7\uff0c\u201cboid\u201d\u4e5f\u662f\u7ebd\u7ea6\u90fd\u5e02\u65b9\u8a00\u4e2d\u201cbird\u201d\u7684\u53d1\u97f3\u3002

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\u7b97\u6cd5\u4ecb\u7ecd


<\/p>\n

\u4e0e\u5927\u591a\u6570\u4eba\u5de5\u751f\u547d\u6a21\u62df\u4e00\u6837\uff0cBoids \u662f\u6d8c\u73b0\u884c\u4e3a\u7684\u4e00\u4e2a\u4f8b\u5b50; \u4e5f\u5c31\u662f\u8bf4\uff0cBoids \u7684\u590d\u6742\u6027\u6765\u81ea\u4e8e\u9075\u5faa\u4e00\u7cfb\u5217\u7b80\u5355\u89c4\u5219\u4e2a\u4f53 agents\uff08\u8fd9\u91cc\u662f Boids\uff09\u7684\u76f8\u4e92\u4f5c\u7528\u3002\u5728\u6700\u7b80\u5355\u7684Boids\u4e16\u754c\u4e2d\u9002\u7528\u7684\u89c4\u5219\u5982\u4e0b\uff0c\u5176\u63cf\u8ff0\u4e86\u9e1f\u7fa4\u4e2d\u7684\u4e2a\u4f53\u5982\u4f55\u6839\u636e\u5468\u8fb9\u540c\u4f34\u7684\u4f4d\u7f6e\u548c\u901f\u5ea6\u79fb\u52a8:
\u5206\u79bb Separation: \u79fb\u52a8\u4ee5\u907f\u5f00\u7fa4\u4f53\u62e5\u6324\u5904\u5bf9\u9f50 Alignment: \u671d\u7740\u5468\u56f4\u540c\u4f34\u7684\u5e73\u5747\u65b9\u5411\u524d\u8fdb\u9760\u8fd1 Cohesion: \u671d\u7740\u5468\u56f4\u540c\u4f34\u7684\u5e73\u5747\u4f4d\u7f6e\uff08\u8d28\u5fc3\uff09\u79fb\u52a8\u5206\u79bb\u5bf9\u9f50\u9760\u8fd1\u6bcf\u4e2a boid \u4e2a\u4f53\u90fd\u53ef\u4ee5\u5f97\u77e5\u6574\u4f53\u7684\u51e0\u4f55\u53c2\u6570\uff0c\u4f46\u7fa4\u4f53\u8981\u6c42\u5176\u53ea\u5bf9\u5176\u5468\u56f4\u67d0\u4e2a\u5c0f\u90bb\u8fd1\u8303\u56f4\u4f5c\u51fa\u53cd\u5e94\u3002\u8be5\u90bb\u8fd1\u8303\u56f4\u7531\u4e00\u4e2a\u8ddd\u79bb\uff08\u4ece\u8be5\u4e2a\u4f53\u7684\u4e2d\u5fc3\u7b97\u8d77\uff09\u548c\u4e00\u4e2a\u89d2\u5ea6\uff08\u4ece\u5176\u98de\u884c\u65b9\u5411\u7b97\u8d77\uff09\u51b3\u5b9a\u3002\u6b64\u8303\u56f4\u5916\u7684\u540c\u4f34\u4e0d\u4e88\u8003\u8651\u3002\u8be5\u4e34\u8fd1\u8303\u56f4\u53ef\u4ee5\u8ba4\u4e3a\u662f\u4e00\u4e2a\u6709\u9650\u77e5\u89c9\u7684\u6a21\u578b\uff08\u5c31\u50cf\u6d51\u6c34\u4e2d\u7684\u9c7c\u4e00\u6837\uff09\uff1b\u4f46\u66f4\u6070\u5f53\u7684\u60f3\u6cd5\u53ef\u80fd\u662f\uff0c\u5176\u5b9a\u4e49\u4e86\u9e1f\u7fa4\u5f71\u54cd\u4e86\u4e2a\u4f53\u8f6c\u5411\u7684\u533a\u57df\u8303\u56f4\u3002
\u5f53\u7136\u4e5f\u53ef\u4ee5\u6dfb\u52a0\u66f4\u590d\u6742\u7684\u89c4\u5219\uff0c\u5982\u907f\u969c\u548c\u5bfb\u627e\u76ee\u6807\u3002
\u8be5\u57fa\u672c\u6a21\u578b\u81eaReynolds\u63d0\u51fa\u4ee5\u6765\uff0c\u5df2\u7528\u591a\u79cd\u65b9\u6cd5\u6269\u5c55\u3002\u4f8b\u5982\uff0cDelgado-Mata \u7b49\u4eba\u6269\u5c55\u57fa\u672c\u6a21\u578b\u4ee5\u52a0\u5165\u6050\u60e7\u7684\u5f71\u54cd\u3002\u56e0\u4e3a\u52a8\u7269\u4e4b\u95f4\u9760\u55c5\u89c9\u6765\u4f20\u9012\u60c5\u611f\uff0c\u6240\u4ee5\u4ed6\u5229\u7528\u4e00\u79cd\u53ef\u81ea\u7531\u81a8\u80c0\u6c14\u4f53\u4e2d\u7684\u7c92\u5b50\u6765\u6a21\u62df\u4fe1\u606f\u7d20\u3002\u54c8\u7279\u66fc Hartman\u548c\u8d1d\u5185\u65af Benes\u6211\u4eec\u4e3a\u8fd9\u79cd\u7ed3\u76df\u5f15\u5165\u4e86\u4e92\u8865\u7684\u529b\u91cf\uff0c\u79f0\u4e4b\u4e3a\u9886\u5bfc\u529b\u66f4\u66ff\u3002\u8fd9\u4e2a\u529b\u51b3\u5b9a\u4e86\u8fd9\u4e2a\u9e1f\u6210\u4e3a\u9886\u5bfc\u8005\u6216\u8005\u8bd5\u56fe\u9003\u8131\u7fa4\u4f53\u7684\u6982\u7387\u3002
Boids \u7684\u8fd0\u52a8\u53ef\u4ee5\u8868\u73b0\u4e3a\u6df7\u4e71\uff08\u5206\u88c2\u7684\u7fa4\u4f53\u548c\u72c2\u91ce\u7684\u884c\u4e3a\uff09\u6216\u6709\u5e8f\u3002\u610f\u60f3\u4e0d\u5230\u7684\u884c\u4e3a\u6bd4\u5982\u7fa4\u4f53\u5206\u6563\u548c\u907f\u5f00\u969c\u788d\u540e\u7684\u96c6\u805a\uff0c\u53ef\u4ee5\u88ab\u8ba4\u4e3a\u662f\u6d8c\u73b0\u7684\u3002
Boids \u6846\u67b6\u901a\u5e38\u7528\u4e8e\u8ba1\u7b97\u673a\u56fe\u5f62\u5b66\uff0c\u63d0\u4f9b\u9e1f\u7fa4\u548c\u5176\u4ed6\u751f\u7269\uff08\u5982\u9c7c\u7fa4\uff09\u7684\u903c\u771f\u8868\u73b0\u3002\u4f8b\u5982\uff0c\u57281998\u5e74\u7684\u7535\u5b50\u6e38\u620f\u300a\u534a\u6761\u547d Half-Life\u300b\u4e2d\uff0c\u6e38\u620f\u7ed3\u675f\u65f6Xen\u4e2d\u51fa\u73b0\u7684\u7c7b\u4f3c\u9e1f\u7c7b\u7684\u98de\u884c\u751f\u7269\u5c31\u4f7f\u7528\u4e86\u8be5\u6846\u67b6\uff08\u6e38\u620f\u6587\u4ef6\u4e2d\u547d\u540d\u4e3a\u201c boid\u201d\uff09\u3002
Boids \u6a21\u578b\u53ef\u7528\u4e8e\u96c6\u7fa4\u673a\u5668\u4eba Swarm Robotics\u4e2d\u7b80\u5355\u7684\u65e0\u4eba\u5730\u9762\u8f66\u8f86\uff08UGV\uff09\u6216\u5fae\u578b\u98de\u884c\u5668 Micro Aerial Vehicles\uff08MAV\uff09\u7fa4\u4f53\u7684\u76f4\u63a5\u63a7\u5236\u548c\u7a33\u5b9a\u3002\u4e3a\u4e86\u5f02\u8d28 UAV-UGV \u7fa4\u4f53\u7684\u7a33\u5b9a\u6027\uff0cSaska \u7b49\u4eba\u5c06\u8be5\u6a21\u578b\u7528\u4e8e\u677f\u8f7d\u76f8\u5bf9\u5b9a\u4f4d\u3002
\u5728\u5f53\u65f6\u63d0\u51fa\u65f6\uff0cReynolds\u7684\u65b9\u6cd5\u76f8\u6bd4\u4e8e\u4f20\u7edf\u7684\u8ba1\u7b97\u673a\u52a8\u753b\u7535\u5f71\u6280\u672f\u662f\u4e00\u4e2a\u5de8\u5927\u7684\u8fdb\u6b65\u3002\u7b2c\u4e00\u90e8\u5229\u7528\u4e86\u6b64\u6a21\u578b\u7684\u52a8\u753b\u7247\u662f\u300a\u53f2\u4e39\u5229\u548c\u53f2\u9edb\u62c9: \u7834\u51b0 Stanley and Stella in: Breaking The Ice\u300b\uff081987\uff09\uff0c\u4e4b\u540e\u662f\u8482\u59c6\u00b7\u4f2f\u987f Tim Burton\u7684\u6545\u4e8b\u7247\u300a\u8759\u8760\u4fa0\u5f52\u6765 Batman Returns\u300b\uff081992\uff09\uff0c\u7535\u8111\u5408\u6210\u7684\u8759\u8760\u7fa4\u548c\u6210\u7fa4\u7684\u4f01\u9e45\u884c\u8fdb\u7a7f\u8fc7\u54e5\u8c2d\u5e02 Gotham City\u7684\u8857\u9053\u3002
Boids \u6a21\u578b\u5df2\u7ecf\u88ab\u7528\u4e8e\u5176\u4ed6\u6709\u8da3\u5e94\u7528\u3002\u8be5\u7cfb\u7edf\u5df2\u5e94\u7528\u4e8e\u4e92\u8054\u7f51\u591a\u9891\u9053\u5e7f\u64ad\u7535\u53f0\u7684\u81ea\u52a8\u8282\u76ee\u7f16\u6392\uff0c\u5b83\u4e5f\u88ab\u7528\u4e8e\u53ef\u89c6\u5316\u4fe1\u606f\u548c\u4f18\u5316\u4efb\u52a1\u3002\u4ee5\u53ca\u53ef\u89c6\u5316\u4fe1\u606f\u548c\u4f18\u5316\u4efb\u52a1\u3002





\u4ee3\u7801\u5b9e\u73b0



\u4ee5\u4e0b\u5185\u5bb9\u662f\u4f7f\u7528BOIDS\u4e09\u5c42\u6a21\u578b\u5bf9\u9e1f\u7fa4\u8fd0\u52a8\u8fdb\u884c\u4e86\u6a21\u62df\uff0c\u53ef\u4ee5\u901a\u8fc7\u8c03\u8282\u4e0d\u540c\u7684\u53c2\u6570\u83b7\u53d6\u5230\u4e0d\u540c\u7684\u5b9e\u9a8c\u73b0\u8c61\uff0c\u53ef\u4ee5\u5728\u8fd9\u4e2a\u57fa\u7840\u4e0a\u4fee\u6539\u6a21\u578b\u89c4\u5219\uff0c\u4ee5\u66f4\u597d\u7684\u6a21\u62df\u96c6\u7fa4\u8fd0\u52a8\uff0c\u672c\u6587\u63d0\u4f9b\u4e00\u4e2a\u6a21\u677f\u3002\u4ee3\u7801\u6765\u6e90\u662f\u6c90\u96e8\u6a59\u98cefire\u6240\u5199\u7684\u535a\u5ba2\u3002# -*- coding:utf-8 -*-
import argparse
import math
import numpy as np
import matplotlib.pyplot as plt
import matplotlib.animation as animation
from scipy.spatial.distance import squareform, pdist
from numpy.linalg import norm<\/p>\n

width, height = 1920, 1080<\/p>\n

N = 100 # number of birds
minDist = 100.0 # min dist of approach
maxRuleVel = 0.3 # max magnitude of velocities calculated by “rules”
maxVel = 3.0 # max magnitude of final velocity<\/p>\n


class Birds:
“””
Simulates flock behaviour of birds, using the realistic-looking Boids model (1986)
“””
def __init__(self):
self.N = N
self.minDist = minDist
self.maxRuleVel = maxRuleVel
self.maxVel = maxVel<\/p>\n

# Computing initial position and velocity
self.pos = [width \/ 2.0, height \/ 2.0] + 10 * np.random.rand(2 * N).reshape(N, 2)
# Create an array of N random variable angles in the range [0. 2pi]
angles = 2 * math.pi * np.random.rand(N)
# Random velocity vector [x,y] coordinates zip grouped
self.vel = np.array(list(zip(np.sin(angles), np.cos(angles))))
def savef(self):
with open(“douban.txt”, “a”) as f:
f.write(str(self.pos.reshape(1, N*2)))
print str(self.pos.reshape(1, N*2))
f.close()
def tick(self, frameNum, pts, beak):
“””
Update the simulation by one time step
“””
# get pairwise distances
self.distMatrix = squareform(pdist(self.pos))
# apply rules:
self.vel += self.apply_rules()
self.limit(self.vel, self.maxVel)
self.pos += self.vel
self.apply_bc()
# update data
pts.set_data(self.pos.reshape(2 * self.N)[::2],
self.pos.reshape(2 * self.N)[1::2])
vec = self.pos + 10 * self.vel \/ self.maxVel
beak.set_data(vec.reshape(2 * self.N)[::2],
vec.reshape(2 * self.N)[1::2])
self.savef()
#print self.pos.reshape(2 * self.N)
#np.savetxt(“x.txt”, self.pos.reshape(1, 2*N))
def limit_vec(self, vec, max_val):
“”” Limit magnitude of 2D vector “””
mag = norm(vec)
if mag > max_val:
vec[0], vec[1] = vec[0] * max_val \/ mag, vec[1] * max_val \/ mag<\/p>\n

def limit(self, x, max_val):
“”” Limit magnitide of 2D vectors in array X to maxValue “””
for vec in x:
self.limit_vec(vec, max_val)<\/p>\n

def apply_bc(self):
“”” Apply boundary conditions “””
deltaR = 2.0
for coord in self.pos:
if coord[0] > width + deltaR:
coord[0] = – deltaR
if coord[0] < – deltaR:
coord[0] = width + deltaR
if coord[1] > height + deltaR:
coord[1] = – deltaR
if coord[1] < – deltaR:
coord[1] = height + deltaR<\/p>\n

def apply_rules(self):
# apply rule #1 – Separation
D = self.distMatrix < 20.0
vel = self.pos * D.sum(axis=1).reshape(self.N, 1) – D.dot(self.pos)
self.limit(vel, self.maxRuleVel)<\/p>\n

# different distance threshold
D = self.distMatrix < 50.0<\/p>\n

# apply rule #2 – Alignment
vel2 = D.dot(self.vel)
self.limit(vel2, self.maxRuleVel)
vel += vel2<\/p>\n

# apply rule #1 – Cohesion
vel3 = D.dot(self.pos) – self.pos
self.limit(vel3, self.maxRuleVel)
vel += vel3<\/p>\n

return vel<\/p>\n


def tick(frameNum, pts, beak, birds):
“”” Update function for animation “””
birds.tick(frameNum, pts, beak)
return pts, beak<\/p>\n


def main():
print(‘Starting flock simulation…’)<\/p>\n

# Create birds
birds = Birds()<\/p>\n

# Setup plot
fig = plt.figure()
ax = plt.axes(xlim=(0, width), ylim=(0, height))
pts, = ax.plot([], [], markersize=10, c=’k’, marker=’o’, ls=’None’)
beak, = ax.plot([], [], markersize=4, c=’r’, marker=’o’, ls=’None’)
anim = animation.FuncAnimation(fig, tick, fargs=(pts, beak, birds), interval=20)<\/p>\n

# TODO: add a “button press” event handler to scatter birds
#anim.save(‘basic_animation.mp4’, fps=30, extra_args=[‘-vcodec’, ‘libx264’])
plt.show(anim)
if __name__ == ‘__main__’:
main()<\/p>\n



\u7f16\u8005\u63a8\u8350

<\/p>\n

\u900f\u8fc7\u4eba\u5de5\u9e1f\u7fa4Boid\u6a21\u578b\u5b66\u4e60List\u7684\u4f7f\u7528\u8bb2\u5e08\uff1a\u5f20\u6c5f(\u5317\u5e08\u5927\u7cfb\u7edf\u79d1\u5b66\u5b66\u9662\u6559\u6388\u3001\u535a\u58eb\u751f\u5bfc\u5e08\uff0c\u96c6\u667a\u4ff1\u4e50\u90e8\u3001\u96c6\u667a\u5b66\u56ed\u521b\u59cb\u4eba\u3002)\u672c\u8bfe\u7a0b\u901a\u8fc7\u6570\u4e2a\u6848\u4f8b\u6559\u4f1a\u5927\u5bb6\u5982\u4f55\u53bb\u52a8\u624b\u642d\u5efa\u4e00\u4e2a\u591a\u4e3b\u4f53\u4eff\u771f\u6a21\u578b\uff0c\u4ee5\u53ca\u5982\u4f55\u5229\u7528NetLogo\u53bb\u5b9e\u73b0\u3002\u4ece\u751f\u547d\u6e38\u620f\u5230\u4eba\u5de5\u9e1f\u7fa4\uff0c\u4ece\u6a21\u62df\u7ecf\u6d4e\u7cfb\u7edf\u5230\u75c5\u6bd2\u6cbf\u7f51\u7edc\u7684\u4f20\u64ad\uff0c\u901a\u8fc7\u5faa\u5e8f\u6e10\u8fdb\u7684\u6848\u4f8b\uff0c\u8be5\u8bfe\u7a0b\u5e26\u4f60\u9010\u6b65\u8d70\u5165NetLogo\u591a\u4e3b\u4f53\u5efa\u6a21\u7684\u795e\u5947\u4e16\u754c\u3002
<\/p>\n

\u8bfe\u7a0b\u63a8\u8350\uff1a\u900f\u8fc7\u4eba\u5de5\u9e1f\u7fa4Boid\u6a21\u578b\u5b66\u4e60List\u7684\u4f7f\u7528
https:\/\/campus.swarma.org\/course\/1104<\/p>\n

\u96c6\u667a\u76f8\u5173\u6587\u7ae0\u5f20\u6c5f\uff1a\u4e4c\u5408\u4e4b\u4f17\u8fd8\u662f\u7fa4\u667a\u6d8c\u73b0\uff1f\u9e1f\u7fa4\u77e5\u9053\u7b54\u6848<\/a>
\u751f\u547d\u5982\u4f55\u8d77\u6e90\uff0c\u667a\u80fd\u5982\u4f55\u6d8c\u73b0\uff0c\u56e0\u679c\u5982\u4f55\u53cd\u8f6c\uff0c\u590d\u6742\u8c1c\u9898\uff0c\u5f15\u4eba\u6df1\u601d\u30022019\u5e747\u670813\u65e5\uff0c\u96c6\u667a\u4ff1\u4e50\u90e8\u521b\u59cb\u4eba\u5f20\u6c5f\u6559\u6388\u5728\u6df7\u6c8c\u5927\u5b66\u6388\u8bfe\uff0c\u8be6\u7ec6\u89e3\u8bfb\u4e86\u590d\u6742\u7cfb\u7edf\u4e2d\u7684\u6df7\u6c8c\u3001\u6d8c\u73b0\u4e0e\u8fdb\u5316\uff0c\u6b64\u6587\u6574\u7406\u81ea\u8bfe\u5802\u5185\u5bb9\u3002
\u5176\u4ed6\u52a8\u753b\u7247\u300aStanley and Stella in: Breaking the Ice (1987)\u300bhttps:\/\/v.qq.com\/x\/page\/z13491sn7fy.html
Craig Reynolds \u4e0e Symbolics Graphics \u548c Whitney \/ Demos Production \u7684\u540c\u4e8b\u5408\u4f5c\u5236\u4f5c\u7684\u5229\u7528 boids \u6a21\u578b\u7684\u5c0f\u77ed\u7247\uff0c\u8bb2\u8ff0\u4e86\u98de\u9e1f\u4e0e\u9c7c\u76f8\u7231\uff0c\u9e1f\u513f\u51b2\u7834\u51b0\u9762\u4e0e\u9c7c\u76f8\u89c1\u7684\u6545\u4e8b\u3002\u5f71\u7247\u6700\u65e9\u4e8e87\u5e74\u5728 SIGGRAPH \u7535\u5b50\u5267\u9662\u5c55\u51fa\u3002





\u767e\u79d1\u9879\u76ee\u5fd7\u613f\u8005\u62db\u52df




\u4f5c\u4e3a\u96c6\u667a\u767e\u79d1\u9879\u76ee\u56e2\u961f\u7684\u6210\u5458\uff0c\u672c\u6587\u5185\u5bb9\u7531Dorr\uff0c\u6728\u5b50\u4e8c\u6708\u9e1f\uff0c\u8584\u8377\u53c2\u4e0e\u8d21\u732e\u3002\u6211\u4eec\u4e5f\u4e3a\u6bcf\u4f4d\u4f5c\u8005\u548c\u5fd7\u613f\u8005\u51c6\u5907\u4e86\u4e13\u5c5e\u7b80\u4ecb\u548c\u4e2a\u4eba\u96c6\u667a\u767e\u79d1\u4e3b\u9875\uff0c\u66f4\u591a\u4fe1\u606f\u53ef\u4ee5\u8bbf\u95ee\u5176\u96c6\u667a\u767e\u79d1\u4e2a\u4eba\u4e3b\u9875\u3002<\/p>\n

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<\/div>\n

\u5728\u8fd9\u91cc\u4ece\u590d\u6742\u6027\u77e5\u8bc6\u51fa\u53d1\u4e0e\u4f19\u4f34\u540c\u884c\uff0c\u540c\u65f6\u6211\u4eec\u5e0c\u671b\u6709\u66f4\u591a\u5fd7\u613f\u8005\u52a0\u5165\u8fd9\u4e2a\u56e2\u961f\uff0c\u4f7f\u767e\u79d1\u8bcd\u6761\u5185\u5bb9\u5f97\u5230\u6269\u5145\uff0c\u5e76\u4e3a\u6bcf\u4f4d\u5fd7\u613f\u8005\u63d0\u4f9b\u76f8\u5e94\u5956\u52b1\u4e0e\u8d44\u6e90\uff0c\u5efa\u7acb\u4e2a\u4eba\u4e3b\u9875\u4e0e\u8d21\u732e\u8bb0\u5f55\uff0c\u4f7f\u5176\u80fd\u591f\u7ee7\u7eed\u63a2\u7d22\u590d\u6742\u4e16\u754c\u3002<\/p>\n

\u5982\u679c\u4f60\u6709\u610f\u53c2\u4e0e\u66f4\u52a0\u7cfb\u7edf\u7cbe\u7ec6\u7684\u5206\u5de5\uff0c\u626b\u63cf\u4e8c\u7ef4\u7801\u586b\u5199\u62a5\u540d\u8868\uff0c\u6211\u4eec\u671f\u5f85\u4f60\u7684\u52a0\u5165\uff01<\/p>\n

\u96c6\u667a\u767e\u79d1\u62a5\u540d\u8868<\/p>\n

\u6765\u6e90\uff1a\u96c6\u667a\u767e\u79d1
\u7f16\u8f91\uff1a\u738b\u5efa\u840d<\/p>\n

\u63a8\u8350\u9605\u8bfb
\u4ec0\u4e48\u662f\u6f14\u5316\u7b97\u6cd5 | \u96c6\u667a\u767e\u79d1<\/a><\/p>\n

\u4ec0\u4e48\u662f\u7cd6\u57df\u6a21\u578b | \u96c6\u667a\u767e\u79d1<\/a><\/p>\n

\u4ec0\u4e48\u662f\u8774\u8776\u6548\u5e94 | \u96c6\u667a\u767e\u79d1<\/a><\/p>\n

\u4ec0\u4e48\u662f\u90bb\u63a5\u8868 | \u96c6\u667a\u767e\u79d1<\/a>
\u52a0\u5165\u96c6\u667a\uff0c\u4e00\u8d77\u590d\u6742\uff01<\/a><\/p>\n

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