Path planning of aviation harness based on joint point routing algorithm

doi:10.16731/j.cnki.1671-3133.2024.04.006

Abstract

Abstract: 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 environment 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.

Key words: path planning, joint point routing algorithm, screening optimization, iterative optimization

CLC Number:

TP391.9

WU Mingyu, LEI Lu, HUANG Huiping, LIU Gongping, QIAO Xiaoli. Path planning of aviation harness based on joint point routing algorithm[J]. Modern Manufacturing Engineering, 2024, 523(4): 43-48.

References

[1] 刘佳顺,刘检华,王志斌,等. 虚拟环境下复杂线缆的集成信息模型[J].计算机集成制造系统,2013,19(5):964-971.
[2] 王发麟,廖文和,郭宇,等.线缆虚拟装配关键技术研究现状及其发展[J].中国机械工程,2016,27(6):839-851.
[3] 王中旭,鲁亚楠,周燕,等.月基装备自主路径规划研究与展望[J/OL].中国空间科学技术:1-12[2023-09-25].http://kns.cnki.net/kcms/detail/11.1859.V.20230809.1358.002.html.
[4] 郑路,张啸,王建国,等.基于宏微结合的田间作业机器人路径规划[J/OL].农业机械学报:1-18[2023-09-25].http://kns.cnki.net/kcms/detail/11.1964.S.20230717.1452.002.html.
[5] YAKOVLEV K, ANDREYCHUK A, BELINSKAYA J,et al.Safe Interval Path Planning and Flatness-Based Control for Navigation of a Mobile Robot among Static and Dynamic Obstacles[J].Automation and Remote Control,2022,83(6):903-918.
[6] 盛新,陈沛帅.最短路算法的研究[J].科技信息,2008(26):82-84,44.
[7] TU J,YANG S.Genetic Algorithm Based Path Planning for a Mobile Robot[C]//Proceedings of IEEE Intelligent Conference on Robotics and Automation.Taiwan:[s.n.],2003:1221-1226.
[8] CHEN Y,HE Z,LI S L.Horizon-based Lazy Optimal RRT for Fast,Efficient Replanning in Dynamic Environment[J].Autonomous Robots,2019,43(8):2271-2292.
[9] DU M,MEI T,CHEN J,et al.RRT-based Motion Planning Algorithm for Intelligent Vehicle in Complex Environments[J].Robot,2015,37(4):443-450.
[10] 崔宝侠,王淼弛,段勇.基于可搜索24邻域的A^*算法路径规划[J].沈阳工业大学学报,2018,40(2):180-184.
[11] 姜康,马世纪.基于改进A^*算法的线缆路径规划方法[J].中国机械工程,2019,30(6):699-708.
[12] LIU H,SHAN T,WNG W. Automatic Routing Study of Spacecraft Cable based on A-star Algorithm[C]//2020 IEEE 5th Information Technology and Mechatronics Engineering Conference (ITOEC). Chongqing:[s.n.],2020:716-719.
[13] 孔慧芳,盛阳.基于改进A^*算法的AGV路径规划研究[J].现代制造工程,2021(10):60-64.
[14] 田海波,李陆军,畅科剑,等.用于无人车路径规划的改进A^*算法[J].现代制造工程,2021(11):63-68,92.

[1]	MAO Kun, ZHU Xuejun, YANG Xudong, YU Checao. Robot vision polishing system for complex workpieces: path planning and force control research [J]. Modern Manufacturing Engineering, 2025, 538(7): 31-41.
[2]	DENG Zejian, YANG Miaosen, LIU Xiyang, DU Rongzhen, LIU Jianwei. Research on autonomous welding technology for curved workpieces based on structured light [J]. Modern Manufacturing Engineering, 2025, 538(7): 96-104.
[3]	DONG Jianlin, GUAN Yuanlin, CHENG Qi, XU Guangsheng, WANG Tichen. Mobile robot path planning based on sparrow search-ant colony algorithm [J]. Modern Manufacturing Engineering, 2025, 537(6): 58-66.
[4]	ZHAO Qian, SHI Yuqiang. Research on real time path planning and obstacle avoidance of AGV by integrating improved A^* algorithm and DWA [J]. Modern Manufacturing Engineering, 2025, 536(5): 91-98.
[5]	LIU Zhen, ZHANG Hong. Warehouse mobile robot path planning integrating improved bidirectional A^{* and dynamic window approach}[J]. Modern Manufacturing Engineering, 2025, 536(5): 99-105.
[6]	FU Dandan, LI Bo. Research on path planning algorithm of mobile robot based on improved RRT^* and DWA fusion [J]. Modern Manufacturing Engineering, 2025, 535(4): 91-97.
[7]	ZHU Min, CHEN Siyuan, CHEN Jie. Research on the path planning algorithm of RRT-Connect robotic arm based on improved artificial potential field guidance [J]. Modern Manufacturing Engineering, 2025, 533(2): 1-9.
[8]	ZHOU Guocheng, TAO Yifei, HE Yi, LI Lishan, WU Jiaxing. Research on the online scheduling problem of multi-AGVs in automatic packing system [J]. Modern Manufacturing Engineering, 2025, 533(2): 17-25.
[9]	ZHAO Zhengjun, HU Likun, CAI Chengjie, WEI Wenyang. Mobile robot path planning based on improved egret swarmoptimization algorithm [J]. Modern Manufacturing Engineering, 2025, 533(2): 37-43.
[10]	LI Dandan, ZHU Shilei, LI Zhongkang, JIE Baikun, WANG Hong. Path planning of mobile robot based on improved chameleon swarm algorithm [J]. Modern Manufacturing Engineering, 2024, 528(9): 40-45.
[11]	ZHOU Xiaoqing, TONG Yifei, ZHOU Kaijun. Research on path planning of multi-warehouse robots based on ISO-TW algorithm [J]. Modern Manufacturing Engineering, 2024, 528(9): 54-59.
[12]	QIU Wen, ZHANG Fan, TAN Yuegang, ZHANG Jun, TU Yiwen. Path planning method for continuous carbon fiber composites 3D printing based on principal stress trajectory lines [J]. Modern Manufacturing Engineering, 2024, 525(6): 22-27.
[13]	DUAN Fangzheng, XU Wubin, SUN Jinquan, LI Bing, WANG Jilin, TANG Junhao, LIU Shihang, WANG Xiujie. Research on optimal changing path planning for unmanned single-drum rollers [J]. Modern Manufacturing Engineering, 2024, 525(6): 135-144.
[14]	LIU Shangjunnan, LIU Shuhai, XIAO Huaping. Path planning of electric vehicle mobile charging robot based on improved gray wolf optimization algorithm [J]. Modern Manufacturing Engineering, 2024, 523(4): 49-56.
[15]	ZHU Min, HU Ruohai, BIAN Jing. Path planning for mobile robots based on improved ant colony algorithm [J]. Modern Manufacturing Engineering, 2024, 522(3): 38-44.