Autonomous
Collision-Free Navigation of Microvehicles
in Complex and Dynamically Changing Environments
Tianlong Li
Xiaocong Chang
Zhiguang Wu
Jinxing Li
Guangbin Shao
Xinghong Deng
Jianbin Qiu
Bin Guo
Guangyu Zhang
Qiang He
Longqiu Li
Joseph Wang
10.1021/acsnano.7b04525.s004
https://acs.figshare.com/articles/media/Autonomous_Collision-Free_Navigation_of_Microvehicles_in_Complex_and_Dynamically_Changing_Environments/5325211
Self-propelled
micro- and nanoscale robots represent a rapidly
emerging and fascinating robotics research area. However, designing
autonomous and adaptive control systems for operating micro/nanorobotics
in complex and dynamically changing environments, which is a highly
demanding feature, is still an unmet challenge. Here we describe a
smart microvehicle for precise autonomous navigation in complicated
environments and traffic scenarios. The fully autonomous navigation
system of the smart microvehicle is composed of a microscope-coupled
CCD camera, an artificial intelligence planner, and a magnetic field
generator. The microscope-coupled CCD camera provides real-time localization
of the chemically powered Janus microsphere vehicle and environmental
detection for path planning to generate optimal collision-free routes,
while the moving direction of the microrobot toward a reference position
is determined by the external electromagnetic torque. Real-time object
detection offers adaptive path planning in response to dynamically
changing environments. We demonstrate that the autonomous navigation
system can guide the vehicle movement in complex patterns, in the
presence of dynamically changing obstacles, and in complex biological
environments. Such a navigation system for micro/nanoscale vehicles,
relying on vision-based close-loop control and path planning, is highly
promising for their autonomous operation in complex dynamic settings
and unpredictable scenarios expected in a variety of realistic nanoscale
scenarios.
2017-08-12 00:00:00
vision-based close-loop control
adaptive control systems
Autonomous Collision-Free Navigation
microscope-coupled CCD camera
Janus microsphere vehicle
nanoscale
path planning
adaptive path planning
microvehicle
scenario
navigation system
robotics research area
Real-time object detection