Improved RRT based cable automatic routing

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.