Pipe routing-path planning (with many constraints)

An implemented system for designing pipe layouts automatically using robot path planning techniques is described. The authors introduce a new approach to pipe layout design automation in which pipe routes are treated as paths left behind by rigid objects (robots). They have implemented this approach in a basic pipe router, which is also described, and have extended this router in order to make it capable of treating a variety of other constraints which are typical of practical pipe layout design problems. These constraints relate to the process carried out in the pipes, to the design of their mechanical support, and to the constructability and the ease of operation and maintenance of the designed pipe systems