Multi-branch cable automatic routing based on improved PRM

To solve the multi-branch cable automatic routing problem in mechanical and electrical products, a method based on improved Probabilistic Road Maps (PRM) was proposed. According to the connection relationship of cable in complex electromechanical products, the cable architecture structure model of "cable parts-harness-cable segment" was designed. Based on the basic PRM, the initial roadmaps was constructed, an enhance extension according to nodes' extending failure coefficient was make, and a local space to supply path exploring was applied. The multi-branch layout map was obtained by fitting with non-uniform cubic B-spline curve. A 3D automatic routing prototype system was developed and some experiments were applied to verify the efficiency of the technology.