基于改进RRT算法的电缆敷设算法设计

Cable laying algorithm design based on improved RRT algorithm

为提高发电工程电缆敷设效率与准确性,采用快速扩展随机树(RRT)算法来设计电缆敷设算法,设计了电缆通道、敷设搜索树、敷设路径等计算要素的数据结构,结合渐进最优的RRT*算法的“重连”操作来优化电缆路径长度,设定了电缆属性、容积率、电缆弯曲限制等敷设条件。通过通道修剪、迭代约束、终点导向、多点扩展、路径复用等多种方式优化了敷设算法。

In order to improve the efficiency and accuracy of cable laying in power generation projects,the cable laying algorithm is designed by using the rapid expansion random tree(RRT)algorithm,which designs the data structure of cable channels,laying search tree,laying path and other computational elements,combines with the asymptotically optimal RRT*algorithm's‘reconnection’operation to optimise the length of the cable path,and sets the cable attributes,volume ratio,cable bending limit and other laying conditions.Laying conditions such as cable attributes,volume ratio,and cable bending limits are set.The laying algorithm is optimised by channel pruning,iterative constraints,end-point guidance,multi-point expansion,path reuse and other methods.