We present a method for routing of a preformed hose in a static surrounding of obstacles. Routing of a preformed hose is the process of finding a preformed design of the hose that connects a start and a goal point in a collision-free way. A preformed hose design is in this paper represented by a center curve on the form of a sequence of straight line segments joined by circular arcs. The method generates a set of center curves that are collision-free and satisfy minimum allowed straight length and radius of curvature constraints. Each center curve takes a topologically different path with respect to the surrounding geometry and is locally of minimum length. The main scientific contribution is the coupling of a generalized bi-directional grid search in with local curve optimization and curve filtering. The method was applied to a set of benchmark cases from the automotive industry and relevant routing solutions were generated in the magnitude of seconds.

我们提出了一种在障碍物的静态环境中布置预制软管的方法。预成型软管的布线是寻找软管的预成型设计的过程，该软管以无碰撞的方式连接起点和目标点。在本文中，预成型软管设计由由圆弧连接的一系列直线段形式的中心曲线表示。该方法生成一组无碰撞且满足最小允许直线长度和曲率半径约束的中心曲线。每条中心曲线相对于周围几何体采用拓扑不同的路径，并且局部长度最小。主要的科学贡献是将广义双向网格搜索与局部曲线优化和曲线过滤相结合。