In well-planned open and semi-open urban areas, it is common to observe desire paths on the ground, which shows how pedestrians themselves enhance the walkability and affordance of road systems. To better understand how these paths are formed, we present an agent-based modelling approach that simulates real pedestrian movement to generate complex path systems. By using heterogeneous ground affordance and visit frequency of hotspots as environmental settings and by modelling pedestrians as agents, path systems emerge from collective interactions between agents and their environment. Our model employs two visual parameters, angle and depth of vision, and two guiding principles, global conception and local adaptation. To examine the model’s visual parameters and their effects on the cost-efficiency of the emergent path systems, we conducted a randomly generated simulation and validated the model using desire paths observed in real scenarios. The results show that (1) the angle (found to be limited to a narrow range of 90–120°) has a more significant impact on path patterns than the depth of vision, which aligns with Space Syntax theories that also emphasize the importance of angle for modelling pedestrian movement; (2) the depth of vision is closely related to the scale-invariance of path patterns on different map scales; and (3) the angle has a negative exponential correlation with path efficiency and a positive correlation with path costs. Our proposed model can help urban planners predict or generate cost-efficient path installations in well- and poorly designed urban areas and may inspire further approaches rooted in generative science for future cities.