A Topological Approach to Path Planning for a Magnetic Millirobot
Ariella Mansfield,Dhanushka Kularatne,Edward Steager,M. Ani Hsieh,Ariella Mansfield,Dhanushka Kularatne,Edward Steager,M. Ani Hsieh
We present a path planning strategy for a magnetic millirobot where the nonlinearities in the external magnetic force field (MFF) are encoded in the graph used for planning. The strategy creates a library of candidate MFFs and characterizes their topologies by identifying the unstable manifolds in the workspace. The path planning problem is then posed as a graph search problem where the computed p...
