2026-10-06T08:07:06Z https://api.figshare.com/v2/oai

oai:figshare.com:article/34071322 2026-10-05T17:25:46Z category_1 category_146 category_915 category_8 category_14 category_734 category_931 category_132 portal_5 item_type_3 month_year_10_2026

<p>Path generation for many passing points.</p> Xiaoyang Zhang (196062) Zhigang Xu (378834) Songkai Liu (25316737) Bing Cai (151199) Bo Deng (324764) Chao Kang (487155) Biophysics Space Science Physical Sciences not elsewhere classified Microbiology Molecular Biology Biological Sciences not elsewhere classified Information Systems not elsewhere classified Infectious Diseases traditional &# 8220 spatial layout planning redundant waypoint elimination planar environment demonstrate making forward design initially ignoring obstacles fit &# 8221 experimental verification confirms differential evolution algorithm approach first utilizes adherent regions arising actual routed paths xlink "> cables waypoint dubins curve improved dubins curves 38 %, respectively 3d routing environment hybrid planning method bending curvature constraints 3d dubins path curvature constraints cables pre 51 %, 3d reconstruction tree detouring termed iolpdc strategy generates simulation results significant challenge precise pre paper proposes local non implemented via effectively eliminating cable based <div><p>Cables in three-dimensional (3D) wall-adherent routing must simultaneously satisfy terminal direction vectors and bending curvature constraints, making forward design and precise pre-cutting a significant challenge. To address this, this paper proposes a hybrid planning method, termed IOLPDC, which combines interference obstacle local post-insertion with improved Dubins curves. The approach first utilizes an undirected graph spanning tree to unfold the 3D routing environment into a two-dimensional (2D) plane. Within this 2D domain, a multi-waypoint Dubins curve is introduced, and a post-insertion strategy is developed. This strategy generates a highly efficient Dubins path by initially ignoring obstacles, followed by binary-tree detouring, pruning, and redundant waypoint elimination to achieve a high-quality feasible path satisfying both directional and curvature constraints. Additionally, for local non-wall-adherent regions arising during 3D reconstruction, an engineering transition solver based on a 3D Dubins path is implemented via a Differential Evolution algorithm. Simulation results in a planar environment demonstrate that compared with Hybrid A* and RRT*Dubins, the proposed IOLPDC method reduces path length by 13.23% and 8.51%, and shortens median planning time by 50.00% and 34.38%, respectively. Experimental verification confirms that cables pre-cut according to the planned lengths precisely match the actual routed paths, effectively eliminating the traditional “cut-to-fit” process and demonstrating strong engineering practicality.</p></div> 2026-10-05T17:25:13Z Dataset Dataset 10.1371/journal.pone.0359351.t001 https://figshare.com/articles/dataset/_p_Path_generation_for_many_passing_points_p_/34071322 CC BY 4.0