基于RRT*的母线布线路径规划算法

Busbar Path Planning Based on RRT* Algorithm

摘要:

针对母线布线设计繁杂，低效，耗时成本高的问题。对工程中母线布线设计的约束与优化目标进行了研究总结，提出了一种基于快速扩展随机树算法(RRT*)的母线布线路径规划算法。在传统的RRT*算法的基础上，通过引入中间点（corner点）的方式改变已生成路径到随机点的扩展方式，使生成路径符合母线的走向限制，实现了初始路径的生成。同时在初始路径生成过程中采取贪心的优化策略，获得弯头数量最少且满足约束的路径。仿真结果表明，相较于传统的RRT*路径规划算法，本文提出的算法可以很好的满足母线的各项布线要求，为母线的自动布线问题提供了一个新方法。

Abstract:

The design of the busbar wiring is complicated, inefficient, and time-consuming. The research summarizes the constraints and optimization objectives of busbar wiring design in engineering. A busbar routing path planning algorithm based on rapidly-exploring random trees algorithm (RRT*) is proposed. To refine the initial path, on the basis of the traditional RRT* algorithm, the extension method of the generated path to the random point is changed by introducing the intermediate point (corner point), the generated path satisfy the tendency of the busbar. At the same time, a greedy optimization strategy is adopted in the path generation process to obtain a path that uses the least amount of elbows and satisfies the constraints. The simulation results show that compared with the traditional RRT* path planning algorithm, the proposed algorithm can meet the busbar wiring requirements well and provide a new method for the busbar automatic routing problem.