Path planning of aviation harness based on joint point routing algorithm
Aiming at the problem of aviation cable path planning,a joint point routing algorithm with non-rasterization processing was proposed.The concept of"baseline"was introduced.Firstly,the initial joint point set was obtained by baseline and routing en-vironment information,and the path planning problem was transformed into the optimal selection problem of joint point set.Then the redundant joint points were screened and optimized according to the obstacle information.Then,the set of joint points with redundant points removed was iteratively optimized,and joint points were added and deleted under the convergence condition of optimal path.Finally,the joint point was used as the routing path node to obtain the cable path.The experimental results show that the joint point routing algorithm can effectively reduce the bending times and cable length of cable routing,and the routing time is better.
path planningjoint point routing algorithmscreening optimizationiterative optimization
万方数据
维普
