关键词: 软管线束, 双向A^*算法, 自动布线, 邻域扩展, 接口方向

Abstract: 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.

Key words: hose harness, bidirectional A^* algorithm, automatic wiring, neighborhood extension, interface direction