Time-optimal simultaneous motion planning and manipulation of multiple nanowires under electric-fields in fluid suspension
Time-optimal simultaneous motion planning and manipulation of multiple nanowires under electric-fields in fluid suspension
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流体悬浮液电场下多根纳米线的时间最优同步运动规划和操纵
DOI：
10.1109/coase.2016.7743506
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
J. Shan
中科院分区：
文献类型：
--
作者：
Kaiyan Yu;J. Yi;J. Shan
我们提出了一个在线的时间最优的运动规划和控制算法，有效地转向多个纳米线同时在液体悬浮液。运动规划器称为SRRT*，是一种改进的稀疏结构、基于快速探索随机树（RRT*）的运动规划算法。与以前开发的网络流和基于RRT的算法（两阶段算法）相比，SRRT* 保证了多个纳米线的渐近时间最优轨迹。此外，可以同时控制的纳米线的最大数量不受限制。我们目前的仿真和实验结果来证明的运动规划和控制设计的最小时间性能。
We present an online time-optimal motion-planning and control algorithms for effectively steering multiple nanowires simultaneously in liquid suspension. The motion planner, called SRRT*, is an improved sparse-structure, Rapidly-exploring Random Tree (RRT*)-based motion-planning algorithm. Comparing with the previous developed network-flow and RRT-based algorithms (two-stage algorithm), the SRRT* guarantees the asymptotically time-optimal trajectories of multiple nanowires. Moreover, the maximum number of nanowires that can be simultaneously controlled is not restricted. We present simulation and experimental results to demonstrate the minimum-time performance of the motion-planning and control design.