Path planning method for indoor building

The invention discloses a path planning method for an indoor building, and the method comprises the steps: 1, analyzing indoor building information into building component geometric information through software, and forming a simulation engineering model; step 2, in the simulation engineering model, acquiring ground data from the analyzed geometric information, determining the dimension of a map, establishing a rectangular local area by taking a connecting line of a starting point and an ending point as a diagonal line, and rasterizing the rectangular area to obtain a grid navigation map; step 3, dividing the grid navigation map into a plurality of first sub-map layers according to different areas, setting first nodes at entrances and exits of the first sub-map layers, forming second sub-map layers by paths among the first nodes, and setting second nodes at corner points of the second sub-map layers; and 4, respectively carrying out optimal path search on the first sub-graph layer and the second sub-graph lay