The invention discloses a path searching method oriented to automatic wiring of branched cables. The problems of low efficiency of
algorithm, unsmooth path, difficult
branch point confirmation and the like existing in the prior art are mainly solved. The path searching method comprises the planning steps that sampling points nearby the surface of an obstacle and on the wall face of wiring space are generated, a Dijsra
algorithm is adopted in a phase-free diagram to calculate cable
trunk nodes, a multi-area redundant point removing strategy and a node complementing strategy are adopted to optimize the nodes; then a
particle swarm optimization algorithm is adopted to calculate the positions of branched nodes; finally, the phase-free diagram is updated to search the nodes in cable branching paths in the mode of searching the nodes in cable
trunk paths, and a spline B is adopted to complete path fitting. The path searching method gives comprehensive consideration to the stability and robustness of the algorithms, the searching efficiency of the algorithms is improved, the
interference phenomenon between cables and obstacles is avoided, branched cable path searching is completed, and a cable suspension phenomenon is avoided.