Time-optimal simultaneous motion planning and manipulation of multiple nanowires under electric-fields in fluid suspension

摘要

We present an online time-optimal motion-planning and control algorithms for effectively steering multiple nanowires simultaneously in liquid suspension. The motion planner, called SRRT*, is an improved sparse-structure, Rapidly-exploring Random Tree (RRT*)-based motion-planning algorithm. Comparing with the previous developed network-flow and RRT-based algorithms (two-stage algorithm), the SRRT* guarantees the asymptotically time-optimal trajectories of multiple nanowires. Moreover, the maximum number of nanowires that can be simultaneously controlled is not restricted. We present simulation and experimental results to demonstrate the minimum-time performance of the motion-planning and control design.