Quality Cost A* Path Planning for Multi-Sensor Fusion in Corridor Smoke Scenarios

Indoor fire smoke degrades visible-light cameras and near-infrared Lidar through wavelength-dependent absorption and scattering, threatening robotic navigation safety. Existing path planners either ignore sensor degradation or rely on empirical penalties lacking a physical basis. To address these issues, this paper proposes Quality Cost A* (QC-A*), which maps Fire Dynamics Simulator (FDS) visibility fields to sensor perception quality via the Koschmieder and Beer-Lambert physical laws, embedding a cost function that drives paths away from high-attenuation regions. A multi-sensor fusion layer provides fault tolerance under sensor-specific failure conditions. The method is validated through FDS-based simulations across four smoke scenarios in a 20 m × 6 m corridor with 21 obstacles, using 50 start-goal pairs per scenario. Perception quality derives from Beer-Lambert optical transmittance, while the hazard-zone proportion quantifies path segments with visibility below 5 m. Across the Symmetric and Asymmetric scenarios, QC-A* reduces the low-visibility hazard-zone proportion from 40.7% to 19.6% and improves worst-case perception quality from 0.067 to 0.177, with a 15.3% path length increase, while remaining close to traditional A* in light-smoke conditions. Under constructed sensor failure tests, QC-A* maintains a 96-100% planning success rate versus 48% for Camera-Only and 70% for Lidar-Only. QC-A* shifts sensor degradation modeling from empirical penalty to physical mechanism, achieving a favorable safety-efficiency balance prioritizing perceptual safety, and provides an interpretable, generalizable framework for robotic fire-environment path planning.