We present a route planning algorithm for cable and wire layouts in complex environments. Our algorithm precomputes a global roadmap of the environment by using a variant of the probabilistic roadmap method (PRM) and performs constrained sampling near the contact space. To accommodate this, we formulate a harness routing optimization problem to minimize cable lengths, maximize bundling by rewarding shared paths, and optimize the cables' spatial location with respect to case-specific information of the routing environment, e. A. In this study, we propose a new pathfinding algorithm, JPS–Theta*, which combines the existing pathfinding algorithms, Jump Point Search and Theta*, that is better suited for cable routing. Given the initial and the. cant as the project size increases. Moreover, it presents an integrated methodology that.
