TY - GEN
T1 - Dynamic path planning in robot-aided optical manipulation of biological cells
AU - Ju, Tao
AU - Liu, Shuang
AU - Yang, Jie
AU - Sun, Dong
PY - 2012
Y1 - 2012
N2 - This paper presents a path planning approach to the transportation of biological cells with combined robotics and optical tweezers technologies. A rapid path planner based on RRT (Rapidly-exploring random trees) algorithm is applied to find a collision-free path for automatic cell transportation. The optical tweezers are employed to trap and move the cell along the generated path toward a pre-specified goal position. Extending our early reported work on static path planning, a new dynamic path planner that considers the environmental change due to the Brownian movement of the cells is developed. This dynamic path planner can successfully enable the trapped cell to avoid collisions with other cells during transportation in a dynamic environment. Experiments on transporting yeast cells are performed to demonstrate the effectiveness of the proposed approach. © 2012 IEEE.
AB - This paper presents a path planning approach to the transportation of biological cells with combined robotics and optical tweezers technologies. A rapid path planner based on RRT (Rapidly-exploring random trees) algorithm is applied to find a collision-free path for automatic cell transportation. The optical tweezers are employed to trap and move the cell along the generated path toward a pre-specified goal position. Extending our early reported work on static path planning, a new dynamic path planner that considers the environmental change due to the Brownian movement of the cells is developed. This dynamic path planner can successfully enable the trapped cell to avoid collisions with other cells during transportation in a dynamic environment. Experiments on transporting yeast cells are performed to demonstrate the effectiveness of the proposed approach. © 2012 IEEE.
UR - https://www.scopus.com/pages/publications/84872326210
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-84872326210&origin=recordpage
U2 - 10.1109/IROS.2012.6385831
DO - 10.1109/IROS.2012.6385831
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 9781467317375
SP - 652
EP - 657
BT - IEEE International Conference on Intelligent Robots and Systems
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -