Efficient Path Planning for a Microrobot Passing through Environments with Narrow Passages.

This paper presents an efficient path-planning algorithm for microrobots attempting to pass through environments with narrow passages. Because of the extremely small size of a microrobot, it is suitable for work in this kind of environment. The rapidly exploring random tree (RRT) algorithm, which uses random sampling points, can quickly explore an entire environment and generate a sub-optimal path for a robot to pass through it; however, the RRT algorithm, when used to plan a path for a microrobot passing through an environment with narrow passages, has the problem of being easily limited to local solutions when it confronts with a narrow passage and is unable to find the final path through it. In light of this, the objectives of the considered path planning problem involve detecting the narrow passages, leading the path toward an approaching narrow passage, passing through a narrow passage, and extending the path search more efficiently. A methodology was proposed based on the bidirectional RRT in which image processing is used to mark narrow passages and their entrances and exits so that the bidirectional RRT can be quickly guided to them and combined with the deterministic algorithm to find paths through them. We designed the methodology such that RRT generates the sampling points for path growth. The multiple importance sampling technique is incorporated with bidirectional RRT, named MIS-BiRRT, to make the path grow faster toward the target point and narrow passages while avoiding obstacles. The proposed algorithm also considers multiple candidate paths simultaneously to expand the search range and then retain the best one as a part of the planning path. After validation from simulation, the proposed algorithm was found to generate efficient path planning results for microrobots to pass through narrow passages.