Target finding and obstacle avoidance algorithm for microrobot swarms

Conference proceedings article

ผู้เขียน/บรรณาธิการ

กลุ่มสาขาการวิจัยเชิงกลยุทธ์

ไม่พบข้อมูลที่เกี่ยวข้อง

รายละเอียดสำหรับงานพิมพ์

รายชื่อผู้แต่ง: Banharnsakun A., Achalakul T., Batra R.C.

ปีที่เผยแพร่ (ค.ศ.): 2012

หน้าแรก: 1610

หน้าสุดท้าย: 1615

จำนวนหน้า: 6

ISBN: 9781467317146

นอก: 1062-922X

eISSN: 1062-922X

URL: https://www.scopus.com/inward/record.uri?eid=2-s2.0-84872424705&doi=10.1109%2fICSMC.2012.6377967&partnerID=40&md5=951968f4ad8c9f161e0605086048000c

ภาษา: English-Great Britain (EN-GB)

ดูบนเว็บไซต์ของสำนักพิมพ์

บทคัดย่อ

Advances in the development of nanotechnology have led to microrobots applications in medical fields. Drug delivery is one of these applications in which microrobots deliver a pharmaceutical compound to targeted cells. Chemotherapy and its side effects can then be minimized. Two major constraints, however, must be considered: the robot's onboard energy supply and the time needed for drug delivery, which are related to the travel distance of microrobots. Furthermore, a microrobot must avoid biological restricted areas which we treat as obstacles in the path. The main objectives of this work are to find optimal paths to targeted cells and avoid collision with obstacles in the paths. In this study, we control motion of microrobots based on the concept of swarm intelligence. Artificial Bee Colony, the swarm-based optimization method, is employed to implement the collision detection and the boundary distance detection modules. The offline path distance optimization approach is also employed to improve the path planning results. Numerical experiments have been conducted using various obstacle environments that confirm that the proposed approach is successful in avoiding obstacles and optimizing the distance traveled to reach the target. ฉ 2012 IEEE.

คำสำคัญ

Artificial Bee Colony (ABC), drug delivery, Microrobotics, Target Finding and Obstacle Avoiding