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首页> 外文期刊>Automation Science and Engineering, IEEE Transactions on >Rapidly Exploring Random Tree Algorithm-Based Path Planning for Robot-Aided Optical Manipulation of Biological Cells
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Rapidly Exploring Random Tree Algorithm-Based Path Planning for Robot-Aided Optical Manipulation of Biological Cells

机译：快速探索基于随机树算法的生物细胞机器人光学操作路径规划

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摘要

In numerous cellular applications, cells are transported to specific positions or extracted from complex cell solutions. Therefore, an efficient cell transportation path planner for these applications is important for avoiding collisions with other cells or obstacles. In this paper, a path planning approach to transporting cells using a robot-aided optical manipulation system is presented. Optical tweezers functions as a special end-effector in transporting a target cell to the desired position along the generated path. The path planner is designed based on the rapidly exploring random trees (RRT) algorithm for calculating a collision-free path for cell transportation. Both static and dynamic path planners are developed. For the dynamic path planner, an online monitoring strategy is employed to dynamically avoid collisions with randomly appeared obstacles caused by environmental influence such as the Brownian movement of microparticles. Experiments of transporting yeast cells are performed to demonstrate the effectiveness of the proposed approach.
机译：在许多细胞应用中，细胞被转运到特定位置或从复杂的细胞溶液中提取出来。因此，对于这些应用而言，有效的细胞运输路径规划器对于避免与其他细胞或障碍物的碰撞很重要。在本文中，提出了一种使用机器人辅助光学操纵系统进行细胞运输的路径规划方法。光学镊子在将目标细胞沿生成的路径运输到所需位置时，充当特殊的末端执行器。基于快速探索随机树（RRT）算法设计路径规划器，以计算细胞运输的无碰撞路径。开发了静态和动态路径规划器。对于动态路径规划器，采用了一种在线监视策略来动态避免与环境影响（例如微粒的布朗运动）引起的随机出现的障碍物发生碰撞。进行运输酵母细胞的实验以证明所提出方法的有效性。

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