基于改进RRT算法的线缆自动布线技术

Improved RRT Based Cable Automatic Routing

针对机电产品中线缆布局设计效率低、成本高的问题,提出一种基于障碍物与目标吸引的改进快速扩展随机树算法(Obs-GA RRT)的线缆自动布线方法。该方法以基本RRT算法为基础,提出标准扩展、基于障碍物碰撞面片法矢量方向扩展及基于历史与目标点吸引扩展相结合的扩展策略,并采用节点扩展概率准则及多步贪婪准则,自动求解出线缆的布局初始路径,并提出基于扩展碰撞信息的路径优化方法对求解得到的初始路径进行优化。设计并开发了三维线缆自动布线软件系统,进行了算例测试与实例应用,验证了算法的高效可行。

In order to solve the low deficiency of cable path planning problem, an obstacle and goal attractive based rapidly-exploring random tree algorithm （Obs-GA RRT） is proposed. This algorithm is based on the normal RRT, and adopt normal extend, obstacle based, history based and history attracting extend, which also defining the search space and calculating some main restrictions during cable layout. During the calculating, Obs-GA RRT defines the extending probability and greedy extending rule. Automatic path optimization will be made for the original path based on the restrictions and collision information. A 3D automatic routing prototype system is developed and some experiments are applied to verify the efficiency of the algorithm.