Abstract
This paper introduces the development of biomimetic underwater microrobots consisting of AVR microcontroller, an infrared ray communication system, and ionic conducting polymer film (ICPF) actuators. We use AVR ATmega16 as the control unit and an infrared ray receiver to provide feedback to the AVR unit. The spiral particle pathway searching approach is developed to search for particles. We also use MATLAB and OpenGL to simulate the path planning and optimisation according to the particle swarm optimisation algorithm. We implemented and demonstrated wireless control over the trajectory of individual microrobot, and extended this to three units in an expect formation.
Original language | English |
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Pages (from-to) | 79-89 |
Number of pages | 11 |
Journal | International Journal of Mechatronics and Automation |
Volume | 1 |
Issue number | 2 |
DOIs | |
Publication status | Published - 2011 |
Externally published | Yes |
Keywords
- AVR
- ionic conducting polymer films (ICPF) actuator
- optimisation
- particle swarm optimisation
- path planning
- underwater biomimetic microrobot