【摘要】 在建筑火灾应急救援时，生成的救援路径多数基于单一类型路网，室内路径规划精度和寻路速度难以平衡。为此，提出一种室内融合路网的构建方法，在室内执行拓扑路网和栅格路网生成算法，由自行设计融合算法和跨楼层通道的提取，获取三维室内路网。由路径权重模型结合寻路算法，寻找最优消防救援路径，同时设计了二次路径规划。最后，以该方法提取试验模型的室内路网，并与以上两种单一路网进行对比分析，验证了该路网提取方法的有效性。更多还原

【Abstract】 During the building fire emergency rescue, most of the paths generated are based on a single type of road network, and it is difficult to balance the accuracy of indoor global path planning and the speed of path finding. Therefore, a method of building an indoor integrated road network is proposed. The algorithm of generating topological road network and grid road network is implemented indoors, and the fusion algorithm and cross floor channel extraction are designed by ourselves to obtain a three-dimensional indoor road network. The path weight model is combined with the routing algorithm to find the optimal fire rescue path, and the quadratic path planning is designed. Finally, the method is used to extract the indoor road network of the experimental model and com-pared with the above two single road networks to verify the effectiveness of the road network extraction method.更多还原