Firemen indoor evacuation path planning method based on improved A* algorithm

Abstract

The invention relates to a firemen indoor evacuation path planning method based on an improved A* algorithm and belongs to the indoor path planning technology field. The method comprises the followingsteps of according to a distance between a firemen and an emergency exit, setting a maximum passable radius of the firemen, and establishing an actual cost function and an estimated cost function; establishing a heuristic search function according to the actual cost function and the estimated cost function; adding a weight to the heuristic search function according to an air breathing device usage time; normalizing the air breathing device usage time; taking normalized data as the weight and adding the data to the heuristic search function, dynamically adjusting and balancing selection of analgorithm on aspects of accuracy and directionality, and acquiring an A* algorithm formula under dynamic balancing. By using a dynamic balancing method taking air breathing device time as the weight,an evacuation planning route is dynamically updated in a planned route according to an actual usage condition, effectiveness of the route is ensured and simultaneously balancing and dynamic adjustmenton the aspects of the accuracy and the directionality of the route are performed.

Description

technical field [0001] The invention belongs to the technical field of indoor path planning, and in particular relates to an indoor evacuation path planning method for firefighters based on an improved A* algorithm. Background technique [0002] With the rapid development of cities, the scale of large modern public buildings is increasing day by day, and the hidden dangers of fires in such places are also increasing. Due to the high internal complexity of public buildings, when a fire occurs, the firefighters need to enter the fire field. The fire environment is complex, the use time of firefighters' air respirators is limited, and the influence of various factors has brought great challenges to firefighters' indoor evacuation work. How to quickly, effectively and accurately plan the evacuation route for firefighters within the effective time has become an urgent problem to be solved. [0003] In the field of indoor fire evacuation, path planning is an important research di...

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Problems solved by technology

[0003] In the field of indoor fire evacuation, path planning is an important research direction. Traditional indoor fire evacuation and evacuation methods mostly use fixed signs such as safety evacuation indicators as the basis for judging the evacuation path, which is not fully based on the actual situation of the fire. Therefore, the traditional path planning method cannot make adaptive adjustments according to the dynamic changes of the fire, resulting in low efficiency and poor path reliability for indoor evacuation and escape of firefighters.

[0004] The A* algorithm is a heuristic path planning algorithm that can search for an optimal evacuation path from the start point to the end point on the drawn indoor grid map, covering the directionality and accuracy of the path, but the traditional A *The estimated value of the weight is omitted in the algorithm, so that the algorithm cannot be dynamically adjusted and updated according to the actual needs of firefighters' fire evacuation scenarios, which reduces the efficiency of algorithm operation and firefighters' evacuation and escape

[0005] The traditional A* algorithm, when using the algorithm for path planning, does not consider the weight relationship between the actual cost function and the estimated cost function, resulting in the path planned by the A* algorithm may not meet the requirements of the actual application scenario, and cannot be effectively Combined with practical problems

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