中文摘要：

考虑约束的路径规划是线缆布局设计的重要方面,针对目前三维环境下的布线方法效率低以及对约束考虑不完善的问题,提出一种基于任意时间RRT算法的三维自动布线方法。该方法将任意时间算法与双树吸引快速扩展随机树（RRT）算法相结合,兼顾路径规划的长度约束及搜索效率,实现线缆初始路径的生成,提出了基于障碍物的磁吸算法（OBMA）,将初始路径作＂贴壁＂细化处理完善线缆路径,最后建立了基于Cosserat弹性杆理论的线缆物理模型,计算获得线缆的精确空间姿态,从而完成布局设计。开发了原型系统,通过典型的布线场景对算法性能进行了测试,并利用某产品仪器板布线实例验证了线缆布局设计效果。

英文摘要：

Constraint based path planning plays an important role in cable layout design（CLD） problem. Currently the constraints like physical ones are not well taken into account in cable routing with low efficiency under three-dimensional environment. An anytime RRT based method for cable automatic routing is presented. The method first computes an initial path from the start point to the goal point using combined anytime algorithm and bidirectional attractive rapidly-exploring random trees（RRT） algorithm, which can solve both length constraint and searching efficiency. To refine the initial path, it is pulled to the structure surface by performing the proposed obstacle based magnetic attraction（OBMA） algorithm. Finally the Cosserat elastic rod theory is used for the physical properties modeling of cable to generate the accurate pose of all the fixed cables. Several typical situations are selected to test the performance of the algorithm and we also test the effect by implementing our method on an electrical product with the cable routing system.