{
  "abstract": "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.",
  "abstract_shown": true,
  "affiliations": [
    "State Key Laboratory of Robotics and Intelligent Systems, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China",
    "University of Chinese Academy of Sciences, Beijing, China",
    "School of Mechanical Engineering, Jiangsu University of Science and Technology, Zhenjiang, China"
  ],
  "article_type": "Research Article",
  "arxiv": null,
  "author_total": 6,
  "authors": [
    {
      "affs": [
        0
      ],
      "name": "Xiaoyang Zhang"
    },
    {
      "affs": [
        1
      ],
      "name": "Zhigang Xu"
    },
    {
      "affs": [
        2
      ],
      "name": "Songkai Liu"
    },
    {
      "name": "Bing Cai"
    },
    {
      "name": "Bo Deng"
    },
    {
      "name": "Chao Kang"
    }
  ],
  "bibtex": "https://research.draconitic.com/paper/fabbbyca01f6m.bib",
  "cited_by": 0,
  "doi": "10.1371/journal.pone.0359351",
  "fulltext_url": null,
  "id": "fabbbyca01f6m",
  "issns": [
    "1932-6203"
  ],
  "landing_url": "https://doi.org/10.1371/journal.pone.0359351",
  "language": null,
  "licence": "CC-BY-4.0",
  "licence_label": "CC BY 4.0",
  "licence_source": "journal",
  "licence_url": "https://creativecommons.org/licenses/by/4.0/",
  "metadata_licence": null,
  "native_subjects": [
    [
      "openalex",
      "1707|Robotic Path Planning Algorithms"
    ],
    [
      "plos",
      "/Physical sciences/Mathematics/Applied mathematics/Algorithms"
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      "plos",
      "/Physical sciences/Mathematics/Geometry/Curvature"
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      "/Physical sciences/Mathematics/Optimization"
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      "plos",
      "/Physical sciences/Physics/Classical mechanics/Kinematics"
    ],
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      "plos",
      "/Physical sciences/Physics/Classical mechanics/Motion"
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      "plos",
      "/Research and analysis methods/Simulation and modeling/Algorithms"
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  "openalex": "W7220377435",
  "pdf_url": "https://journals.plos.org/plosone/article/file?id=10.1371/journal.pone.0359351&type=printable",
  "pmcid": null,
  "pmid": null,
  "published": "2026-10-05",
  "publisher": "Public Library of Science",
  "ris": "https://research.draconitic.com/paper/fabbbyca01f6m.ris",
  "sources": [
    {
      "first_seen": "2026-10-30T12:17:37Z",
      "native_id": "10.1371/journal.pone.0359351",
      "source": "plos",
      "url": "https://doi.org/10.1371/journal.pone.0359351"
    }
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  "subjects": [
    {
      "field": "mathematics",
      "origin": "plos:geometry",
      "subfield": "geometry-topology"
    }
  ],
  "title": "Spatial layout planning of cable based on a hybrid method combining interference obstacle local post-insertion and improved Dubins curves",
  "title_text": "Spatial layout planning of cable based on a hybrid method combining interference obstacle local post-insertion and improved Dubins curves",
  "type": "peer-reviewed",
  "updated_at": "2026-10-30T12:17:37Z",
  "url": "https://research.draconitic.com/paper/fabbbyca01f6m",
  "venue": "PLOS One",
  "versions": []
}