关键词: 路径规划, 关节点寻路算法, 筛选优化, 迭代优化

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