Authors
Yuezhen Liu, Yibin Wang, Kaiwen Fang, Hui Chen, Guangjun Zeng, Jiangfan Yu
Published in
Cyborg and bionic systems (Washington, D.C.). Volume 6. Pages 0158. Epub Jun 02, 2025.
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.
PMID:
40458812
Bibliographic data and abstract were imported from PubMed on 03 Jun 2025.
Read full publication at:
Please sign in
to see all details.
Advertisement
Stats
- Recommendations n/a n/a positive of 0 vote(s)
- Views 11
- Comments 0