{"title":"Radar-Based Control of a Helical Microswimmer in 3-Dimensional Space with Dynamic Obstacles.","authors":"Yuezhen Liu, Yibin Wang, Kaiwen Fang, Hui Chen, Guangjun Zeng, Jiangfan Yu","doi":"10.34133/cbsystems.0158","DOIUrl":null,"url":null,"abstract":"<p><p>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.</p>","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"6 ","pages":"0158"},"PeriodicalIF":10.5000,"publicationDate":"2025-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12128585/pdf/","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Cyborg and bionic systems (Washington, D.C.)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.34133/cbsystems.0158","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"2025/1/1 0:00:00","PubModel":"eCollection","JCR":"Q1","JCRName":"ENGINEERING, BIOMEDICAL","Score":null,"Total":0}
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.