BIM Voxelization Method Supporting Cell-Based Creation of a Path-Planning Environment

Cell-based path planning is studied and applied worldwide. Building information models (BIMs) can be used as the environment for path planning. However, studies providing an applicable and detailed approach to converting a BIM to cells are rarely reported. This study proposes a voxel-based method that can automatically convert a BIM to cells. This technique, verified for accuracy and applicability, can quickly and conveniently create a cell-based path-planning environment based on a given BIM before testing and applying path-planning methods. With this method, researchers and practitioners can focus more on research and the application of path planning instead of the creation of a cell-based environment, which is time-consuming and tedious.