CAJ | 학술논문

针对机电产品中线缆布局设计效率低、成本高的问题,提出一种基于障碍物与目标吸引的改进快速扩展随机树算法(Obs-GA RRT)的线缆自动布线方法.该方法以基本RRT算法为基础,提出标准扩展、基于障碍物碰撞面片法矢量方向扩展及基于历史与目标点吸引扩展相结合的扩展策略,并采用节点扩展概率准则及多步贪婪准则,自动求解出线缆的布局初始路径,并提出基于扩展碰撞信息的路径优化方法对求解得到的初始路径进行优化.设计并开发了三维线缆自动布线软件系统,进行了算例测试与实例应用,验证了算法的高效可行.
침대궤전산품중선람포국설계효솔저、성본고적문제,제출일충기우장애물여목표흡인적개진쾌속확전수궤수산법(Obs-GA RRT)적선람자동포선방법.해방법이기본RRT산법위기출,제출표준확전、기우장애물팽당면편법시량방향확전급기우역사여목표점흡인확전상결합적확전책략,병채용절점확전개솔준칙급다보탐람준칙,자동구해출선람적포국초시로경,병제출기우확전팽당신식적로경우화방법대구해득도적초시로경진행우화.설계병개발료삼유선람자동포선연건계통,진행료산례측시여실례응용,험증료산법적고효가행.
In order to solve the low deficiency of cable path planning problem, an obstacle and goal attractive based rapidly-exploring random tree algorithm (Obs-GA RRT) is proposed. This algorithm is based on the normal RRT, and adopt normal extend, obstacle based, history based and history attracting extend, which also defining the search space and calculating some main restrictions during cable layout. During the calculating, Obs-GA RRT defines the extending probability and greedy extending rule. Automatic path optimization will be made for the original path based on the restrictions and collision information. A 3D automatic routing prototype system is developed and some experiments are applied to verify the efficiency of the algorithm.