{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,5]],"date-time":"2026-10-05T17:56:36Z","timestamp":1791222996887,"version":"4.1.0"},"reference-count":30,"publisher":"Public Library of Science (PLoS)","issue":"10","license":[{"start":{"date-parts":[[2026,10,5]],"date-time":"2026-10-05T00:00:00Z","timestamp":1791158400000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"State Key Laboratory of Robotics and Intelligent Systems","award":["No. 2025-Z26"],"award-info":[{"award-number":["No. 2025-Z26"]}],"id":[{"id":"https:\/\/ror.org\/03pcw1780","id-type":"ROR","asserted-by":"crossref"}]}],"content-domain":{"domain":["www.plosone.org"],"crossmark-restriction":false},"short-container-title":["PLoS One"],"abstract":"<jats: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 \u201ccut-to-fit\u201d process and demonstrating strong engineering practicality.<\/jats:p>","DOI":"10.1371\/journal.pone.0359351","type":"journal-article","created":{"date-parts":[[2026,10,5]],"date-time":"2026-10-05T17:24:16Z","timestamp":1791221056000},"page":"e0359351","update-policy":"https:\/\/doi.org\/10.1371\/journal.pone.corrections_policy","source":"Crossref","is-referenced-by-count":0,"title":["Spatial layout planning of cable based on a hybrid method combining interference obstacle local post-insertion and improved Dubins curves"],"prefix":"10.1371","volume":"21","author":[{"given":"Xiaoyang","family":"Zhang","sequence":"first","affiliation":[{"name":"State Key Laboratory of Robotics and Intelligent Systems, Shenyang Institute of Automation, Chinese Academy of Sciences","place":["Shenyang, China"]},{"name":"University of Chinese Academy of Sciences","place":["Beijing, China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhigang","family":"Xu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Intelligent Systems, Shenyang Institute of Automation, Chinese Academy of Sciences","place":["Shenyang, China"]},{"name":"University of Chinese Academy of Sciences","place":["Beijing, China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Songkai","family":"Liu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Intelligent Systems, Shenyang Institute of Automation, Chinese Academy of Sciences","place":["Shenyang, China"]},{"name":"University of Chinese Academy of Sciences","place":["Beijing, China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bing","family":"Cai","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Intelligent Systems, Shenyang Institute of Automation, Chinese Academy of Sciences","place":["Shenyang, China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bo","family":"Deng","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Jiangsu University of Science and Technology","place":["Zhenjiang, China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3072-5494","authenticated-orcid":true,"given":"Chao","family":"Kang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Jiangsu University of Science and Technology","place":["Zhenjiang, China"]}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"340","published-online":{"date-parts":[[2026,10,5]]},"reference":[{"key":"pone.0359351.ref001","doi-asserted-by":"crossref","unstructured":"Pemarathne WPJ, Fernando TGI. 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