Path Planning and Recognition Tracking of a Magnetoelastic Miniature Swimmer in Complex Environment

doi:10.3901/JME.2023.05.089

Abstract

Abstract: The miniature swimmer made of magnetic elastic material can achieve continuous deformation through the external uniform magnetic field to complete the swimming action. Despite visual feedback improving path tracking accuracy, visual closed-loop robot control is prone to recognition errors and tracking failures under complex backgrounds. Aiming at the above problems, firstly, the obstacle information in complex environments is obtained, and the improved RRT* algorithm (IIC-RRT*) is proposed for path planning. In addition, YOLOv5 based on circular smooth label (CSL-YOLOv5) recognition and tracking algorithm is used to update the central position and rotation angle of miniature swimmers in real time under complex conditions. Using this method, the miniature swimmer is controlled via dual closed loop servos with position and angle against a complex obstacle background. According to the experimental results, the proposed path planning algorithm improves the efficiency and smoothness of the path generation process, while the recognition and tracking algorithm improves the recognition stability and accuracy of the miniature swimmer. This work may provide an innovative idea for the precision control of the magnetic miniature swimmer under complex backgrounds.

Key words: miniature swimmer, path planning, recognition tracking

CLC Number:

TP242

XIANG Hongbiao, YANG Dahu, YANG Lu, WANG Shoujun, ZHANG Mian, HUANG Xian, HUO Wenxing. Path Planning and Recognition Tracking of a Magnetoelastic Miniature Swimmer in Complex Environment[J]. Journal of Mechanical Engineering, 2023, 59(5): 89-99.

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