Stochastic trajectory planning and navigation for AFM based nano robotic manipulation

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Stochastic trajectory planning and navigation for AFM based nano robotic manipulation
	Yuan S(袁帅); Liu LQ(刘连庆); Wang ZD(王志东); Xi N(席宁); Wang YC(王越超)
	2014
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
关键词	AFM Nanomanipulation Trajectory planning
页码	958-963
中文摘要	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.
收录类别	EI
产权排序	1
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
语种	英语
ISBN号	978-1-4799-5825-2
内容类型	会议论文
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
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:11th World Congress on Intelligent Control and Automation (WCICA 2014). Shenyang, China. June 29 - July 4, 2014.