Navigation and motion control for micro-robot based on fuzzy-PID in blood-vessel mimic environment

In recent years, the research of microrobots in medicine has gradually matured. Navigation for micro-robot’s movement has also become important research. However, in the actual manipulation process of micro-robot, it will be disturbed by the flowing blood while moving in the blood vessel. Thus, the trajectory will be deviated from the predetermined one. In this paper, different algorithms were investigated for the navigation of micro-robot in blood-vessel mimic environment. Informed-RRT* was chosen as a better performed algorithm, according to the simulation results. With the pre-planned path, a fuzzy-PID controller was developed for precise trajectory tracking, which could effectively eliminate the random disturbance caused by the flowing blood during the movement process and enables it to quickly recover to a stable movement state.