Path planning in three dimensional live environment with randomly moving obstacles for viscoelastic bio-particle

Area of Science:

• Biophysics
• Nanotechnology
• Robotics

Background:

• Atomic Force Microscopy (AFM) offers versatile capabilities for various environments and scales.
• Accurate tool performance is critical for success in biological applications.

Purpose of the Study:

• To provide an optimized path for AFM operation in a live environment with random fixed and moving obstacles.
• To minimize a cost function combining tool error, maximum applied force, and particle deformation.

Main Methods:

• Path planning for a viscoelastic particle considering constraints like critical force, time, and maximum applied force.
• Incorporation of fixed and moving obstacles with random profiles and distributions.
• Comparison of routing results with previous works to validate path correctness.

Main Results:

• The optimized path was successfully determined for a viscoelastic particle in a simulated live environment.
• Path planning time varied based on constraints: 117.657s (critical force/time), 118.240s (max applied force), and 120.540s (all constraints).
• The applied force constraint was found to be more influential than others, increasing path planning time.

Conclusions:

• The developed path optimization method is effective for AFM operations in complex, obstacle-filled environments.
• Constraint analysis reveals the significant impact of applied force on path planning efficiency.
• The study validates the accuracy and reliability of AFM path planning in simulated biological settings.