Radar-Based Control of a Helical Microswimmer in 3-Dimensional Space with Dynamic Obstacles.

IF 10.5 Q1 ENGINEERING, BIOMEDICAL
Cyborg and bionic systems (Washington, D.C.) Pub Date : 2025-06-02 eCollection Date: 2025-01-01 DOI:10.34133/cbsystems.0158
Yuezhen Liu, Yibin Wang, Kaiwen Fang, Hui Chen, Guangjun Zeng, Jiangfan Yu
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引用次数: 0

Abstract

Advanced control strategies critical for microrobots have been widely investigated to achieve precise locomotion. However, dynamic obstacle avoidance in 3D space is a major challenge in control that remains unsolved. In this work, a control scheme is developed for the automatic navigation of a helical microswimmer in 3-dimensional (3D) space with dynamic obstacles. A 3D hierarchical radar with a motion sphere and a detection sphere is firstly developed. Using the radar-based avoidance approach, the desired motion direction for the microswimmer to avoid obstacles can be obtained, and the coarse-to-fine search is used to decrease the computational load of the algorithm. Three navigation modes of the microswimmer in 3D space with dynamic conditions are realized by the radar-based navigation strategy that combines the global path planning algorithm and the radar-based avoidance approach. Subsequently, a motion controller is proposed to achieve precise 3D locomotion control of the microswimmer. The control scheme integrating the radar-based navigation strategy and the motion controller is developed. The experimental results of navigated locomotion of a helical microswimmer in 3D space with 8 static obstacles and 8 dynamic obstacles demonstrate the effectiveness of the control scheme, and the proposed control scheme paves the way for advanced locomotion control of helical microswimmers in complex 3D space.

三维空间有动态障碍物的螺旋微游泳者雷达控制。
为了实现机器人的精确运动,先进的控制策略已经得到了广泛的研究。然而,三维空间的动态避障是控制领域的一大难题。本文提出了一种具有动态障碍物的螺旋微游泳器在三维空间中的自动导航控制方案。首先研制了一种具有运动球和探测球的三维分层雷达。采用基于雷达的避障方法,获得微游泳者避障所需的运动方向,并采用从粗到精的搜索方法降低算法的计算量。采用结合全局路径规划算法和雷达回避方法的雷达导航策略,实现了微游泳者在三维动态空间中的三种导航模式。随后,提出了一种运动控制器来实现微游泳者的精确三维运动控制。提出了基于雷达的导航策略和运动控制器相结合的控制方案。采用8个静态障碍物和8个动态障碍物对螺旋微游泳者进行了三维空间导航运动实验,实验结果验证了该控制方案的有效性,为螺旋微游泳者在复杂三维空间的高级运动控制奠定了基础。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
CiteScore
7.70
自引率
0.00%
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审稿时长
21 weeks
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