Grid2Guide: A* Enabled Small Language Model for Indoor Navigation

Abstract: Reliable indoor navigation remains a significant challenge in complex environments, particularly where external positioning signals and dedicated infrastructures are unavailable. This research presents Grid2Guide, a hybrid navigation framework that combines the A* search algorithm with a Small LLM (SLM) to generate clear, human-readable route instructions. The framework first conducts a binary occupancy matrix from a given indoor map. Using this matrix, the A* algorithm computes the optimal path between origin and destination, producing concise textual navigation steps. These steps are then transformed into natural language instructions by the SLM, enhancing interpretability for end users. Experimental evaluations across various indoor scenarios demonstrate the method's effectiveness in producing accurate and timely navigation guidance. The results validate the proposed approach as a lightweight, infrastructure-free solution for real-time indoor navigation support.