Research On Indoor Navigation Algorithm Considering Obstacles

With the accelerating urbanization process,there is more and more urgent demand for indoor navigation for business centre,parking lot,hospital and other complex indoor location service and the safety management of underground space.87% of the activities are done in indoor environment,so that indoor navigation has become a research hotspot.As the building structure for people's daily life are more and more complex,many obstacles influence people's moving.So it is essential for people to provide accurate and efficient indoor navigation path planning.Nowadays there are many challenges and problems in indoor navigation.Most existing path planning are based on 2D plan,pay more attention to the geometric information of indoor space,while often ignore rich semantic information of building components,and in path planning only simple indoor layout are studied without taking into account obstacles.Aiming at above disadvantages,this paper concentrates on indoor navigation considering obstacles from 2D plan and 3D model two aspects.Firstly,an indoor navigation algorithm is proposed considering obstacles on 2D plan.Aiming at existing disadvantages,we concentrate on indoor navigation considering obstacles represented as regular or irregular polygons.We introduce a specific space subdivision based on a simplified floor plan which contains semantic information to build the indoor navigation network.After the network is created,the shortest path is computed using Dijkstra algorithm.The experiments demonstrate that we are able to navigate around the obstacles using the proposed network.Considering to well-known path-finding approaches based on Medial Axis Transform(MAT)or Visibility Graph(VG),the approach in this paper provides a quick subdivision of space and routes and resulting network for navigation.Secondly,an indoor navigation algorithm is proposed considering obstacles on IFC.This paper collects BIM as the input data and concentrates on indoor navigation considering obstacles in the multi-floor building.We first interpret IFC files in detail and analyze information transmission in it.After whose geometric and semantic information are extracted,two specific space subdivision methods such as 2D grid subdivision and the 3D space subdivision based on triangular prism are adopted to build the indoor navigation network.With the single floor navigation graph,whole navigation graph of multi-floor are connected by staircase or elevators.Finally,the Dijkstra algorithm is used to realize the path planning to avoid obstacles.The algorithm has realized the accurate navigation avoiding obstacles,and the effectiveness of the algorithm is verified by the experiments.It's shown that the proposed algorithm focuses on obstacles,and it provides effective path planning on 2D plan or 3D model,in which the study of IFC model is more thorough.Furthermore the study in this paper provides the reference to future indoor navigation,especially 3D visualization path planning based on detailed models.