Research On Path Planning Based On Indoor Three-dimensional Map

The development of 3D visualization technology significantly promotes the indoor map technology developing from two-dimensional map to three-dimensional technology,and now the main commercial indoor map types are indoor two-dimensional map and indoor tree-dimensional map.Indoor two-dimensional maps are compatible with traditional outdoor maps with good compatibility and can be displayed by superposition.Indoor two-dimensional maps is also adopted by mainstream map makers such as Google Map,Bing Map,Baidu map and Amap.Meanwhile,indoor 3D simple map is mainly adopted by some new map manufacturers,such as Feng Map,Palmap,et al.The internal structure of the building with many floors is complex and diverse.The mutual shelter between floors affects the normal display of maps and path planning crossing floors.Therefore,this paper hopes to build indoor multi-dimensional map on the basis of architectural plans,and realises the common platform with integrated display of indoor 2D and 3D maps.In addition,indoor 3D path network was built and multi optimal paths were studied.(1)By analyzing the interior space structure of the building,this paper designs an indoor element data structure containing geometric and semantic information,as the data storage structure of the multi-dimensional map.Taking the architectural plans as data source,the mapping process of indoor two-dimensional map and deriving the geometric and semantic information of the map were explored in this paper.(2)In the parametric construction of indoor 3D maps,geometric information was obtained by the plane geometric coordinate points of the 2D map,and semantic information is used to complete the wall stretching operation and the parametric modeling of the stairs.In the process of manually constructing the indoor 3D maps,the detailed structure and size information of the building is obtained through the floor plan of the building,and actual measurement and viewing are performed to the architectural structure in which the structure changed.The experimental results show that the webpage program developed on the Cesium platform can realize the joint display of indoor 2D/3D map and can display together with outdoor maps.(3)Compared with outdoor paths,indoor paths often exhibit 3D structural characteristics and there are multiple optimal paths.This paper discusses the drawing of indoor paths under ideal conditions and situations with obstacles,respectively.Stairs and elevators are used as connecting nodes between the upper and lower layers to construct an indoor 3D route map.At the same time,the D-K algorithm was applied to solve the indoor multi-optimal path problem.It was hoped to minimize the occupation of system resources by path planning algorithm.Using the concept of the layered path network,a detailed path network is invoked on the partition where the source node and the target node are located,and form together with the key path network composed of the key nodes to make up a new path map.Experiments showed that this scheme can significantly reduce the operation time of the path planning algorithm.