After publishing the auction conditions for the transmission facilities, concessionaires must assess whether the proposed condition is advantageous for them, taking into account various cost factors, directly financial or not. Given the short time for making this decision, it is important that there is a tool to assist them in this process. In this work, we present an optimization methodology for obtaining the optimal routing of transmission lines between two points, taking into account several financial, social and environmental factors. This problem has been discussed in many previous works, but the most significant difference of the proposed methodology is that it is an adaptation of a preeminent technique for the motion planning of robots: (Optimal) Rapid Random Trees, since there is a strong analogy between the problem of optimal routing of transmission lines and that of optimal motion planning of robots. The algorithm is detailed and results for three scenarios with moderate complexity are presented. These results are compatible with the experience of professionals from the field who supervised this research.

在公布了传输设施的拍卖条件之后，特许经营者必须考虑各种成本因素，直接或不直接，评估提议的条件是否对他们有利。考虑到做出此决定的时间很短，重要的是要有一种工具来协助他们进行此过程。在这项工作中，我们考虑了一些财务，社会和环境因素，提出了一种用于获得两点之间传输线最佳路由的优化方法。在以前的许多工作中都曾讨论过此问题，但是所提出的方法的最大不同之处在于，它是对机器人运动计划的一种杰出技术的改编：（最佳）快速随机树，因为在传输线的最佳路由问题和机器人的最佳运动计划问题之间有很强的类比。详细介绍了该算法，并给出了三​​种复杂度适中的方案的结果。这些结果与指导这项研究的专业人士的经验相吻合。