Planar Path Following of 3-D Steering Scaled-Up Helical Microswimmers.
Résumé
Helical microswimmers capable of propulsion at low Reynolds numbers have great potential for numerous applications. Several kinds of artificial magnetic actuated helical microswimmers have been designed by researchers. However, they are primarily open-loop controlled. This paper aims to investigate methods of closed-loop control of a magnetic actuated helical swimmer at low Reynolds number by using visual feedback.
For many in-vitro applications, helical swimmers should pass through a defined path, for example along channels, without any
prerequisite on the velocity profile along the path. Therefore, the main objective of this paper is to achieve a velocity-independent
planar path following task. Since the planar path following is based on 3D steering control of the helical swimmer, a 3D pose
estimation of a helical swimmer is introduced based on the realtime visual tracking with a stereo vision system. The contribution
of this paper is in two parts: the 3D steering of a helical swimmer is demonstrated by visual servo control; and the path following
of a straight line with visual servo control is achieved, then compared to open-loop control. We further expect that with this
visual servo control method, the helical swimmers will be able
to follow reference paths at the microscale.
Domaines
Automatique / Robotique
Origine : Fichiers produits par l'(les) auteur(s)
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