3D path planning of the viscoelastic particles in the presence of random stationary and moving obstacles using AFM nano-robot

Abstract

The capabilities of the atomic force microscopy to work in different environments and small scales such as nano and micro made it applicable in nano devices assemble, nano surgery and etc. In this paper, due to these applications and the necessity of high accuracy in such operations, the importance of the tool's error, the maximum applied force on the tool and the maximum deformation of the particle in possible costs, it has been tried to minimize these factors along the path planning using genetic algorithm. This aim will be reached considering constraints such as critical force and time which affect particle's motion, the maximum applied force affecting velocity and coordinates which define path range. According to the possibility of fixed and moving obstacles existence, randomly stationary and moving obstacles will be considered. Path planning for viscoelastic biological particles has been done based on mentioned constraints and conditions and results were compared with the previous works.