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A Genetic Algorithm based area coverage approach for controlled drug delivery using micro-robots

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3 Author(s)
WeiMin Tao ; Brooks Autom. Inc., Mountain View, CA, USA ; Mingjun Zhang ; Tarn, T.

This paper describes a Genetic Algorithm (GA) based approach for area coverage using micro-robots. The method can be used for controlled drug delivery or tumor treatment using micro-robots. The algorithm aims to find a near-optimal path that covers a given area entirely, except obstacles defined as biological barriers or drug side effect restricted zones. The proposed GA approach is a dynamic online path planning approach, which is able to achieve planning during motion and to response to detected obstacles. Different from point-to-point path planning, the proposed operators for the GA are specially designed for area coverage. Comparisons of the approach with high-level static optimal search algorithms and low-level fixed path planning approaches are also presented. Simulation results are given to show the effectiveness of the approach.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:2 )

Date of Conference:

April 26-May 1, 2004