Motion control of an underwater microrobot system in 3-D space

This paper studies the problem of motion control of an underwater microrobot system in three-dimensional space by developing an AVR control system and PSO path-planning optimization system. This kind of underwater microrobot system can be used in underwater medical knowledge networks and management and artificial intelligence of multi-microrobot medicine system. For each microrobot with smart materials can used to carry out some medicine inject mission, and the microrobot system can complete more complex underwater tasks, such as environment detecting and analysis. We first design the structure of the microrobot system and AVR control system, the use a novel Spiral Particle Pathway Searching Approach to search for particles in the pathway to avoid the obstacle and determined the shortest pathway for a single robot and three robots to the target area, at last we optimize the pathway by using PSO algorithm. According to the simulation results, this method of path-planning and optimization of an underwater microrobot in 3-D space is both possible and efficient.