利用图像拼接技术实现软滚动微型机器人在亥姆霍兹线圈系统下的跨视场自主导航

IF 4.6 2区 计算机科学 Q2 ROBOTICS
Lijun Fang;Hoyeon Kim;Zhaowen Su;U Kei Cheang
{"title":"利用图像拼接技术实现软滚动微型机器人在亥姆霍兹线圈系统下的跨视场自主导航","authors":"Lijun Fang;Hoyeon Kim;Zhaowen Su;U Kei Cheang","doi":"10.1109/LRA.2024.3504234","DOIUrl":null,"url":null,"abstract":"Under the guidance of an integrated control and imaging system, magnetic microrobots have the capability to navigate within narrow spaces to perform tasks such as cargo delivery and manipulations. However, due to the difficulty of balancing image resolution and width of the field of view (FOV), achieving accurate autonomous navigation of microrobots in large workspaces remains a significant challenge. This letter introduces a control strategy aided by image stitching to address this challenge. First, an image stitching algorithm based on key point matching, a motorized mobile platform, and a camera were used to obtain a global map that spanned multiple FOVs. Then, an A* global path planning algorithm was used to calculate the collision-free optimal path. Next, a key point matching method was used to calculate the local path in the FOV where the microrobot was located. Finally, a closed-loop control algorithm and the mobile platform were used to guide the microrobots to the endpoint in the global space. This control strategy was demonstrated in experiments using soft alginate microrobots in microchannels that spanned multiple FOVs. Experiments showed that this method was able to obtain global maps of large workspaces with high accuracy through image stitching and guide microrobots through different environments with different channel geometries. The results of this work demonstrated the possibility of using microrobots for automated tasks in more than one FOV, which can significantly widen the range of microrobotic applications.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 1","pages":"820-827"},"PeriodicalIF":4.6000,"publicationDate":"2024-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Autonomous Navigation of Soft Rolling Microrobots Under a Helmholtz Coil System Across Fields of View Using Image Stitching\",\"authors\":\"Lijun Fang;Hoyeon Kim;Zhaowen Su;U Kei Cheang\",\"doi\":\"10.1109/LRA.2024.3504234\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Under the guidance of an integrated control and imaging system, magnetic microrobots have the capability to navigate within narrow spaces to perform tasks such as cargo delivery and manipulations. However, due to the difficulty of balancing image resolution and width of the field of view (FOV), achieving accurate autonomous navigation of microrobots in large workspaces remains a significant challenge. This letter introduces a control strategy aided by image stitching to address this challenge. First, an image stitching algorithm based on key point matching, a motorized mobile platform, and a camera were used to obtain a global map that spanned multiple FOVs. Then, an A* global path planning algorithm was used to calculate the collision-free optimal path. Next, a key point matching method was used to calculate the local path in the FOV where the microrobot was located. Finally, a closed-loop control algorithm and the mobile platform were used to guide the microrobots to the endpoint in the global space. This control strategy was demonstrated in experiments using soft alginate microrobots in microchannels that spanned multiple FOVs. Experiments showed that this method was able to obtain global maps of large workspaces with high accuracy through image stitching and guide microrobots through different environments with different channel geometries. The results of this work demonstrated the possibility of using microrobots for automated tasks in more than one FOV, which can significantly widen the range of microrobotic applications.\",\"PeriodicalId\":13241,\"journal\":{\"name\":\"IEEE Robotics and Automation Letters\",\"volume\":\"10 1\",\"pages\":\"820-827\"},\"PeriodicalIF\":4.6000,\"publicationDate\":\"2024-11-21\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE Robotics and Automation Letters\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://ieeexplore.ieee.org/document/10759741/\",\"RegionNum\":2,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"ROBOTICS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Robotics and Automation Letters","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10759741/","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0

摘要

本文章由计算机程序翻译,如有差异,请以英文原文为准。
Autonomous Navigation of Soft Rolling Microrobots Under a Helmholtz Coil System Across Fields of View Using Image Stitching
Under the guidance of an integrated control and imaging system, magnetic microrobots have the capability to navigate within narrow spaces to perform tasks such as cargo delivery and manipulations. However, due to the difficulty of balancing image resolution and width of the field of view (FOV), achieving accurate autonomous navigation of microrobots in large workspaces remains a significant challenge. This letter introduces a control strategy aided by image stitching to address this challenge. First, an image stitching algorithm based on key point matching, a motorized mobile platform, and a camera were used to obtain a global map that spanned multiple FOVs. Then, an A* global path planning algorithm was used to calculate the collision-free optimal path. Next, a key point matching method was used to calculate the local path in the FOV where the microrobot was located. Finally, a closed-loop control algorithm and the mobile platform were used to guide the microrobots to the endpoint in the global space. This control strategy was demonstrated in experiments using soft alginate microrobots in microchannels that spanned multiple FOVs. Experiments showed that this method was able to obtain global maps of large workspaces with high accuracy through image stitching and guide microrobots through different environments with different channel geometries. The results of this work demonstrated the possibility of using microrobots for automated tasks in more than one FOV, which can significantly widen the range of microrobotic applications.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
IEEE Robotics and Automation Letters
IEEE Robotics and Automation Letters Computer Science-Computer Science Applications
CiteScore
9.60
自引率
15.40%
发文量
1428
期刊介绍: The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信