Dynamic Evacuation Path Planning Method for Building Fire with ASRRT-MCACO Collaborative Optimization

In response to the issues of slow efficiency, unreasonable path planning, and poor real-time performance in dynamic evacuation route planning for building fires during their early stages, a collaborative optimization method is proposed that integrates the Adaptive Step Size RRT* (ASRRT) algorithm with the Multi-Objective Collaborative Ant Colony Algorithm (MCACO). First, the ant colony algorithm is used to dynamically prioritize multiple exits. Then, an improved RRT* algorithm is employed to plan the shortest and safest path from the current position to the selected exit. Safety constraints are also introduced during the path planning process. Finally, the smoothness of the optimized path is enhanced, and simulation experiments are conducted in self-built scenarios. The experimental results show that the proposed method has an average path length 27.5m and a path planning time of 7.4 seconds, demonstrating high precision and robustness across various scenarios.