Figures of the Article

• Grid layout space discretization
• Original layout space model
• Final layout space model
• Schematic diagram of equipment bounding box
• The flowchart of EPA-star algorithm
• Schematic diagram of the typical location relationship of the connection points
• Schematic diagram of connection point interferometry
• Schematic diagram of pipeline obstacle avoidance
• Schematic diagram of pipeline obstacle avoidance
• Schematic of path switchback and concave structure
• Schematic diagram of the path before and after pruning
• Schematic diagram of the search scope
• Schematic diagram of the branch point selection range
• The optimal layout of EPA-star
• Layout of the original project space equipment
• The optimal layout of case 2
• The optimal collaborative layout of case 2