基于导航网格的室内火灾逃生路径动态规划

为了解决现有虚拟现实（virtual reality，VR）场景中室内火灾逃生路径规划静态、低效的问题，基于VR场景中的导航网格，提出了室内火灾真实感表达方法，构建了室内火灾VR场景；其次根据VR场景创建了初始导航网格，设计了导航网格动态生成算法，建立了室内火灾逃生路径动态规划方法；最后构建了原型系统，并选择某产业园展厅作为案例开展了实验分析. 实验结果表明:融合静态地理场景与动态火灾场景，能构建室内火灾VR场景；导航网格每次更新时间在10 ms内，逃生路径规划的每次更新时间平均为50 ms左右，可支持室内火灾逃生路径的动态规划. 

Dynamic Planning Method for Indoor-Fire Escape Path Based on Navigation Grid

Existing escape path planning methods for indoor fire in virtual reality (VR) have some deficiencies such as static planning and low efficiency. To solve the these problems, the dynamic planning of indoor-fire escape path was explored with the use of the navigation grid in VR scene. First, a photorealistic visualization method of indoor fire was proposed and a VR scene of indoor fire was constructed. Second, a construction algorithm of initial navigation was created and its dynamic generation algorithm was designed. Then the dynamic planning method for indoor-fire escape path was established. Finally, a prototype system was developed and the exhibition hall in an industrial park was selected for experimental analysis. The experimental results show that the static geographic scene and dynamic fire scene can be combined to construct an indoor-fire VR scene, and the proposed method can dynamically plan escape paths of indoor fire. The navigation grid can be updated within 10 m, and the average time of each escape path planning is about 50 ms.