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基于角度的安全几何消除 (SAGE) 用于微机器人路径规划

Youngji Ko^1,2,3, Seung-Hyun Im^1,2,3, Hana Choi³

¹Department of AI Convergence, Chonnam National University, 77 Yongbong-ro, Buk-gu, Gwangju 61186, Republic of Korea.

|November 27, 2025

概括

基于安全角度的几何消除 (SAGE) 是微机器人导航的新算法. 它在复杂的环境中产生高效,无碰撞的路径,提高安全性和速度.

科学领域:

机器人和自动化机器人和自动化
微型机器人技术的发展
路径规划算法路径规划算法

背景情况:

微机器人在狭窄空间中的导航需要路径规划,以提高效率和避免碰撞.
现有的方法通常通过在简化过程中忽视墙壁边界来创建容易碰撞的路径.
需要强大的算法来保证微机器人的无碰撞轨迹.

研究的目的:

引入基于安全角度的几何消除 (SAGE),用于微机器人导航的路径简化算法.
为了从像素级最短的路径实现实时,无碰撞的轨迹生成.
提高微机器人在受限制环境中的操作效率和安全性.

主要方法:

SAGE是一个单通算法,它将像素级路径简化为低复杂度的轨迹.
它分析了三重点 (p_i,p_i+1,p_i+2),根据转角值或直截面无碰撞检查删除了中间点.
该算法与Dijkstra和RRT计划器集成,并与Ramer-Douglas-Peucker算法进行计算比较.

主要成果:

与传统方法相比,SAGE实现了大约5%的路径长度缩短和20%的转成本降低.
该算法显示,在复杂的迷宫和血管环境中,碰撞率为0%.
计算性能与拉默-道格拉斯-皮克克算法相当.

结论:

SAGE为高速,无碰撞的微机器人导航提供了高效可靠的框架.
该算法的有效性通过定量分析和实验微机器人演示来验证.
SAGE适用于芯片实验室,化学反应和分子诊断系统中的自动化.

关键词:

避免碰撞,避免碰撞.实验室自动化实验室自动化芯片上的实验室微型机器人微型机器人导航导航导航导航导航路径简化路径的简化

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