Collision avoidance schemes for orthogonal pipe routing

This paper describes collision detecting and avoidance schemes to automatically lay out piping routes. The overlapping between the boundary boxes of equipment and pipelines is the basis for determining two types of collision: vertex-interference and edge-interference. Three collision-avoidance routing schemes have been developed using the modified adjacency and distance matrices and the line-surface intersection method. This collision avoidance scheme is for orthogonal pipe routing and forms the basis for extension to other routing principles.