First Responders Space Subdivision Framework for Indoor Navigation

—Indoor navigation is crucial, particularly during indoor disasters such as fires. However, current spatial subdivision models struggle to adapt to the dynamic changes that occur in such situations, making it difficult to identify the appropriate navigation space, and thus reducing the accuracy and efficiency of indoor navigation. This study presents a new framework for indoor navigation that is specifically designed for first responders, with a focus on improving their response time and safety during rescue operations in buildings. The framework is an extension of previous research and incorporates the combustibility factor as a critical variable to consider during fire disasters, along with definitions of safe and unsafe areas for first responders. An algorithm was developed to accommodate the framework and was evaluated using Pyrosim and Pathfinder software. The framework calculates walking speed factors that affect the path and walking speed of first responders, enhancing their chances of successful evacuation. The framework captures dynamic changes, such as smoke levels, that may impact the navigation path and walking speed of first responders, which were not accounted for in previous studies. The experimental results demonstrate that the framework can identify suitable navigation paths and safe areas for first responders, leading to successful evacuation in as little as 148 to 239 seconds. The proposed framework represents a significant improvement over previous studies and has the potential to enhance the safety and effectiveness of first responders during emergency situations.