Stochastic trajectory planning and navigation for AFM based nano robotic manipulation
文献类型：会议论文
| 作者 | Yuan S(袁帅); Liu LQ(刘连庆) ; Wang ZD(王志东); Wang YC(王越超)
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| 出版日期 | 2014 |
| 会议日期 | June 29 - July 4, 2014 |
| 会议地点 | Shenyang, China |
| 关键词 | Afm Nanomanipulation Trajectory Planning |
| 页码 | 958-963 |
| 英文摘要 | 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. |
| 产权排序 | 1 |
| 会议录 | Proceeding of the 11th World Congress on Intelligent Control and Automation
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| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4799-5825-2 |
| WOS记录号 | WOS:000393066200169 |
| 源URL | [http://ir.sia.cn/handle/173321/15383]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Yuan S(袁帅) |
| 作者单位 | 1.Shenyang Jianzhu University, Shenyang, China 2.Dept. of Mechanical and Biomedical Engineering, City University of Hong Kong, Hong Kong, Hong Kong 3.Dept. of Advanced Robotics, Chiba Institute of Technology, Chiba, Japan 4.State Key Laboratory of Robotics, Shenyang Institute of Automation (SIA), Chinese Academy of Sciences, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Yuan S,Liu LQ,Wang ZD,et al. Stochastic trajectory planning and navigation for AFM based nano robotic manipulation[C]. 见:. Shenyang, China. June 29 - July 4, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
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