Background

Fajen and Warren’s steering dynamics model can reproduce human paths around an extended barrier by adding ‘waypoints’ at each end – if one waypoint is selected to minimize the global path curvature (Gérin-Lajoie and Warren, 2008). We propose that waypoint selection behaves like a choice between two competing goals, in which the smaller distance (d) and deviation angle (β) is preferred (Ulrich and Borenstein, 1998). Here we manipulate these two variables to test the determinants of route selection.

Research question

How does route selection in barrier avoidance depend on the local distance (d) and deviation angle (β) of each end, and on global path length (P) and curvature (C)? Methods: Participants (Exp1 N = 19; Exp2 N = 15) walked around a barrier to a visible goal in a virtual environment. Barrier orientation and lateral position were manipulated to vary the difference in distance (Δd) and in deviation angle (Δβ) between the left and right ends of the barrier. Left/Right route data were analyzed using a mixed-effects logistic regression model, with Δβ, Δd, and observed ΔP and ΔC as predictors.

Results

The main effects of Δβ and Δd significantly predicted Rightward responses (p < .001), more strongly than ΔP and ΔC (ΔBIC = 29.5). When Δβ and Δd agreed, responses were toward the smaller distance and deviation (88% overall); when they conflicted, responses were in between (65% toward smaller β). The 75% choice threshold for Δβ was ±1.65˚, and for Δd was 0.75 m, from the 50% chance level.

Significance

During barrier avoidance, participants select a route that minimizes the local distance (d) and deviation angle (β) of the waypoint, rather than the global path length (P) or path curvature (C). These findings support the hypothesis that route selection is governed by competing waypoints, instead of comparing planned paths to the final goal.

中文翻译：

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避障时的路线选择。

背景

Fajen和Warren的转向动力学模型可以通过在每个端点处添加“航路点”来重现围绕扩展障碍的人的路径-如果选择了一个航路点以最小化全局路径曲率（Gérin-Lajoie和Warren，2008）。我们提出，航路点选择的行为就像两个竞争目标之间的选择，其中较小的距离（d）和偏向角（β）是首选（Ulrich和Borenstein，1998）。在这里，我们操纵这两个变量来测试路线选择的决定因素。

研究问题

避障中的路线选择如何取决于两端的局部距离（d）和偏斜角（β），以及整体路径长度（P）和曲率（C）？方法：参与者（Exp1 N = 19； Exp2 N = 15）在虚拟环境中绕过一个通往可见目标的障碍。操纵栅栏方向和横向位置以改变栅栏左右两端之间的距离（Δd）和偏斜角（Δβ）之差。使用混合效应逻辑回归模型分析左/右路径数据，其中Δβ，Δd和观察到的ΔP和ΔC为预测因子。

结果

Δβ和Δd的主要影响显着预测了向右响应（p <.001），比ΔP和ΔC（ΔBIC= 29.5）更强。当Δβ和Δd一致时，响应朝向较小的距离和偏差（总体为88％）。当它们发生冲突时，响应介于两者之间（对较小的β而言为65％）。从50％的机会水平出发，Δβ的75％选择阈值为±1.65˚，Δd的选择阈值为0.75 m。

意义

在避开障碍物期间，参与者选择的路线应使航路点的局部距离（d）和偏离角度（β）最小，而不是使全局路径长度（P）或路径曲率（C）最小。这些发现支持以下假设：路线选择由竞争的航点控制，而不是将计划的路线与最终目标进行比较。