Abstract
In this study, we aim to enhance the navigation method for autonomous systems, including various types of robots and UAVs. Previous work has made progress in enhancing the autonomous flight capabilities of UAVs through both simulation and real-world tests, yet it lacked detailed insights into the aspect of global route planning. To address this gap, we propose a novel method to automatically generate routes for autonomous robots using BIM and 3D city models. Specifically, we create a program that utilizes geometry and attribute information extracted from BIM and 3D City Model to compute the optimal route rapidly. The program automatically generates routes that optimize the efficiency of various autonomous robots by considering the conditions on the routes.