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题名: Stochastic trajectory planning and navigation for AFM based nano robotic manipulation
作者: Yuan S(袁帅); Liu LQ(刘连庆); Wang ZD(王志东); Xi N(席宁); Wang YC(王越超)
作者部门: 机器人学研究室
会议名称: 11th World Congress on Intelligent Control and Automation (WCICA 2014)
会议日期: June 29 - July 4, 2014
会议地点: Shenyang, China
会议录: Proceeding of the 11th World Congress on Intelligent Control and Automation
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2014
页码: 958-963
收录类别: EI
ISBN号: 978-1-4799-5825-2
关键词: AFM ; Nanomanipulation ; Trajectory planning
摘要: AFM based nano robotics uses the tip to perform observing and maneuvering with high resolution and accuracy. The tip position uncertainties in the task space due to the PZT nonlinearity and thermal drift is compensated by using the landmarks existing in the task region. This method can detect and control the accuracy of the relative position between AFM tip and the interest object. However, as for the complex situations including several features and seldom features in the task regions, the tip trajectory need to be planned, and its position accuracy is required to be retained in the allowance. So this paper proposes the stochastic trajectory planning and navigation based on local scan by using the shortest path according to the tip motion model. The observation distance is defined and landmark adjacency matrix is established for designing the observed landmarks. Also the landmark domain is defined to actively configure the feature. The simulation and experimental results are performed to illustrate the efficiency of the proposed method.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/15383
Appears in Collections:机器人学研究室_会议论文

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