AUTHOR=Huan Zhijie , Wang Jiamin , Zhu Lan , Zhong Zhixiong , Ma Weicheng , Chen Zhoufan 

TITLE=Navigation and closed-loop control of magnetic microrobot in plant vein mimic environment

JOURNAL=Frontiers in Plant Science

VOLUME=Volume 14 - 2023

YEAR=2023

URL=https://www.frontiersin.org/journals/plant-science/articles/10.3389/fpls.2023.1133944

DOI=10.3389/fpls.2023.1133944

ISSN=1664-462X

ABSTRACT=In recent years, research on the control of micro-robots has gradually matured. The motion navigation of micro-robots has also become an important research topic. However, in practice, the micro-robot will be disturbed by the flowing liquid when it moves in the micro-fluid environment. As a result, the trajectory will deviate from the intended trajectory. In this paper, different algorithms for the navigation of the micro-robot in a simulated plant leaf vein environment are investigated. Based on the simulation results, RRT*-Connect is selected as the path planning algorithm after comparing the performance. Based on the pre-planned path, a fuzzy PID controller is designed for precise trajectory tracking, which can effectively eliminate the random disturbance caused by micro-fluid flow during the motion and make it quickly recover to a stable movement state.