Nanorobots were proposed to deliver drugs directly into cancer cells to destroy only these cells without harming the surrounding cells. During their journey, the nanorobots may encounter some obstacles such as blood cells which may be resistant to their movement. So, it is necessary to avoid collisions with these obstacles to achieve their goal. This study proposes a new strategy for controlling the nanorobots movement in human body to reach cancer cells. This proposed strategy uses an efficient algorithm based on fuzzy logic for dynamic obstacle avoidance. Also, this proposed strategy uses the directed particle swarm optimization (DPSO) algorithm for delivering nanorobots to cancer cells. Simulation experiments have proved that the proposed control strategy can efficiently deliver nanorobots to their target and also avoid collisions with dynamic obstacles which move in the same direction of the nanorobots or across their direction.
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