Abstract: To enhance the efficiency and accuracy of fire rescue missions in complex dynamic environments, this study integrates the equivalent of path congestion as time cost and the equivalent of blockage situations as capacity loss. It also comprehensively considers the impact of spatial turn types and quantities on the cognition and speed of rescue personnel. A Cost Evaluation Model for Transportation (CEMT) is proposed for path planning. Building upon this, a method for calculating passage costs in three-dimensional space and complex environments has been constructed, achieving a more comprehensive and scientific quantification of passage costs. The study explores the impact of various factors on path planning and validates the effectiveness and practicality of the model in evaluating passage costs.

Key words: transportation cost, evaluation model, path planning, fire rescue, three-dimensional space