Narrow Space Assembly Path Planning Based on Improved A* Algorithm

HE Lei; CAO Hu; CHEN Lei

doi:10.16080/j.issn1671-833x.2018.12.065

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Narrow Space Assembly Path Planning Based on Improved A* Algorithm

更新时间：2025-10-30

- Narrow Space Assembly Path Planning Based on Improved A* Algorithm
- Aeronautical Manufacturing Technology Vol. 61, Issue 12, Pages: 65-72(2018)
- 作者机构：
  
  航空工业成都飞机工业（集团）有限责任公司总装厂,成都,610091
- 作者简介：
- 基金信息：
- DOI：10.16080/j.issn1671-833x.2018.12.065
  CLC：
- Published：2018
- 稿件说明：
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何磊，曹虎，陈雷. 基于改进A*算法的狭窄空间装配路径规划[J]. 航空制造技术, 2018, 61(12): 65-72.

HE Lei, CAO Hu, CHEN Lei. Narrow Space Assembly Path Planning Based on Improved A* Algorithm. Aeronautical Manufacturing Technology, 2018, 61(12): 65-72.
何磊，曹虎，陈雷. 基于改进A*算法的狭窄空间装配路径规划[J]. 航空制造技术, 2018, 61(12): 65-72. DOI： 10.16080/j.issn1671-833x.2018.12.065.

HE Lei, CAO Hu, CHEN Lei. Narrow Space Assembly Path Planning Based on Improved A* Algorithm. Aeronautical Manufacturing Technology, 2018, 61(12): 65-72. DOI： 10.16080/j.issn1671-833x.2018.12.065.

摘要

针对飞机总装过程中部分狭窄区域存在装配路径仿真困难，提出三维空间下改进A* 算法，进行装配路径规划。将A* 算法由二维平面推广到三维空间，同时考虑安装物体的尺寸及旋转对装配路径的影响。对安装空间和安装物体进行网格化处理，形成地图映射。根据安装物体在三维空间中的移动和旋转成本，建立评价函数，利用改进A* 算法进行启发式搜索，获得装配路径节点。利用CATIA 二次开发技术，在CATIA 装配环境中进行算法实现和路径仿真。仿真结果表明该方法可以有效控制安装物体的移动及旋转，避开在狭窄空间中的障碍物，生成装配路径。

Abstract

Combining with the assembly path simulating difficulty of some narrow space area in final assembly situation

the improved A* algorithm in 3D space is adopted in assembly path planning. Improve the A* algorithm from 2D plane to 3D space

and the influence of size and rotate of assembly part on path planning is considered. Mesh the assembly space and part to make a map. According to the move and rotate cost of assembly part in 3D space to build the evaluate function

by using the improved A* algorithm to heuristic searching to find the assembly path node. By using the automation development of CATIA

realizing the algorithm and path simulation in CATIA assembly environment. According to the simulating result

the method can effectively control the move and rotation of assembly part

avoid the barrier in narrow space and generate the assembly path.

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