Analysis and Evaluation of Path Planning Algorithms for Autonomous Driving of Electromagnetically Actuated Microrobot
- PDF / 1,736,668 Bytes
- 12 Pages / 594.77 x 793.026 pts Page_size
- 23 Downloads / 175 Views
ISSN:1598-6446 eISSN:2005-4092 http://www.springer.com/12555
Analysis and Evaluation of Path Planning Algorithms for Autonomous Driving of Electromagnetically Actuated Microrobot Seung-hyun Lim, Sun Woo Sohn, Hyoryong Lee, Donghyeon Choi, Eunsil Jang, Minhye Kim, Junhyeong Lee, and Sukho Park* Abstract: In order to overcome the limitations of the A* algorithm in the autonomous control of electromagnetically actuated microrobots, this study introduces three modified path planning algorithms (A*-WAPP, A*-waypoints, A*-WAPP-waypoints) using the concept of Wall Avoiding Path Planning (WAPP) and waypoints. Through the autonomous driving experiment of an electromagnetically actuated microrobot, the three modified path planning algorithms based on A* and the original A* algorithm were evaluated using four performance measures. As a result, it was confirmed whether significant changes exist between the A* algorithm and the A*-based modified algorithms about the fitness for the autonomous driving environment of the electromagnetically actuated microrobot. First, compared to the path of the A* algorithm, A*-WAPP algorithm generated a stable path that dramatically reduced the collision between the microrobot and the obstacle. However, in the autonomous driving of the microrobot, A*-WAPP algorithm increased the driving distance and driving time. On the other hand, A*-waypoints algorithm showed a tendency in reducing the driving distance and driving time of the autonomous driving microrobot by simplifying the generated path, but still showed the collision problem between the microrobot and the obstacle. Finally, the path generated by the A*-WAPP-waypoints algorithm greatly increased the stability of the autonomous driving microrobot and showed great advantages of the decreases in the driving distance and driving time. In conclusion, it was confirmed that the proposed A*-WAPP-waypoints algorithm showed the best path generation results in the autonomous driving microrobot among the three A*-based algorithms. Keywords: A*-WAPP-waypoints, autonomous driving, microrobot, path planning algorithm.
1.
INTRODUCTION
Recently, microrobot technology can be applied to accurate diagnosis, minimally invasive surgery, drug delivery of accurate targeting, and precision medicine and can be considered as a powerful therapeutic tool in the future medicine field [1–4]. As an example, S. Park proposed an intravascular microrobot powered by an external magnetic field as a solution to the chronic total occlusion (CTO), the limit of percutaneous coronary intervention (PCI) which is one of the most preferred treatments for the coronary disease [5]. In general, there are two control methods, manual control and autonomous control for the operation of microrobots. When the microrobot is manually operated, for the stable operation of microrobots, the long-term training of the operator is necessary and many
factors such as an operator’s mistake and fatigue should be considered. However, the introduction of autonomous control can make many advantages for
Data Loading...
