基于改进双向A^(*)算法的软管线束自动布置方法

Automatic layout method of hose harness based on improved bidirectional A^(*) algorithm

为了解决传统A^(*)算法在软管线束路径规划时搜索节点过多、折弯过大,以及难以满足多种布线约束等问题,提出一种基于改进双向A^(*)算法的软管线束自动布置方法。首先,为了满足管线两端的接口方向约束,采用双向搜索策略,动态定义正、反向搜索的目标节点;其次,引入双重权重参数优化评价函数并加入折弯代价,减少管线的拐点和折弯角度;然后,提出基于自适应步长的邻域搜索方法,并在搜索过程中设定父拐点和加入折弯角度限制约束,以提高搜索效率并满足管线最小弯曲半径要求;最后,针对搜索路径拐点较多和路径不平滑问题,提出基于节点过滤和B样条曲线插值的软管光顺方法。实验仿真表明,与传统A^(*)算法相比,所提方法规划出的管线路径拐点和搜索路径节点数都有较大减少,生成的软管路径光顺平滑,满足实际布线约束。

In order to solve the problems of the traditional A^(*)algorithm in the hose harness path planning,such as too many search nodes,too large bending,and difficult to meet a variety of routing constraints,a hose harness automatic layout method based on the improved bidirectional A^(*)algorithm is proposed.Firstly,in order to meet the interface direction constraints at both ends of the pipeline,a two-way search strategy is adopted to dynamically define the forward and reverse search target nodes.Secondly,double weight parameters are introduced to optimize the evaluation function and add the bending cost to reduce the bending point and bending angle of the pipeline.A neighborhood search method based on adaptive step size is proposed,and the parent inflection point and bending constraint are set during the search process to improve the search efficiency and meet the requirements of the minimum bending radius of the pipeline.Finally,aiming at the problems of many inflection points and unsmooth path,a hose fairing method based on node filtering and B-spline curve interpolation is proposed.The simulation results show that,compared with the traditional bidirectional A^(*)algorithm,the number of pipeline path bends and the number of search path nodes planned by the proposed method are greatly reduced,and the generated hose path is smooth and meets the actual routing constraints.