Large-Workspace and High-Resolution Magnetic Microrobot Navigation Using Global-Local Path Planning and Eye-in-Hand Visual Servoing

Lidong Yang, Li Zhang

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

5 Citations (Scopus)

Abstract

Magnetic microrobots have the capability of navigation in confined and narrow space to perform delivery or micromanipulation tasks. However, due to the fast decay of magnetic fields and the contradiction between resolution and field of view (FOV) of a feedback instrument, the large-workspace and high-resolution (LWHR) navigation remains a challenge in magnetic microrobotics. This paper provides a solution to this challenging problem, in which a self-constructed magnetic manipulation system with mobile electromagnetic coils and eye-in-hand feedback is used to actuate magnetic microrobots in a large workspace. To enable the automated large-workspace microrobot navigation in complex environments, we propose a global-local path planning scheme. In the mode of low-resolution feedback, the whole workspace is captured and a global near-optimal path is planned. On the other hand, in the high-resolution feedback mode, the microrobot and its local environment is precisely tracked and identified, respectively. Then, a real-time local planning algorithm is designed to correct the deficiencies in the rough global path. Parameter tuning of the planning scheme is accomplished via simulations. Closed-loop motion control and field control algorithms are designed and implemented, and experiments demonstrate the automated LWHR navigation of magnetic microrobots in a vascular-like network. Results show that the ratio between the navigation diameter and the microrobot diameter exceeds 200.

Original languageEnglish
Title of host publication2020 IEEE 16th International Conference on Automation Science and Engineering, CASE 2020
PublisherIEEE Computer Society
Pages876-881
Number of pages6
ISBN (Electronic)9781728169040
DOIs
Publication statusPublished - Aug 2020
Externally publishedYes
Event16th IEEE International Conference on Automation Science and Engineering, CASE 2020 - Hong Kong, Hong Kong
Duration: 20 Aug 202021 Aug 2020

Publication series

NameIEEE International Conference on Automation Science and Engineering
Volume2020-August
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Conference

Conference16th IEEE International Conference on Automation Science and Engineering, CASE 2020
Country/TerritoryHong Kong
CityHong Kong
Period20/08/2021/08/20

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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