An indoor navigation approach considering obstacles and space subdivision of 2D plan

The demand for indoor navigation is increasingly urgent in many applications such as safe management of underground spaces or location services in complex indoor environment, e.g. shopping centres, airports, museums, underground parking lot and hospitals. Indoor navigation is still a challenging research field, as currently applied indoor navigation algorithms commonly ignore important environmental and human factors and therefore do not provide precise navigation. Flexible and detailed networks representing the connectivity of spaces and considering indoor objects such as furniture are very important to a precise navigation. In this paper we concentrate on indoor navigation considering obstacles represented as polygons. We introduce a specific space subdivision based on a simplified floor plan to build the indoor navigation network. 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, which are compatible with the results of VG.