Optimal Control of a Universal Rotating Magnetic Vector for Petal-shaped Capsule Robot in Curve Environment

Steering control of a capsule robot in curve environment by magnetic navigation is not yet solved completely. A petal-shaped capsule robot with less steering resistance based on multiple wedge effects is presented, and an optimization method with two processes for determining the orientation of a pre-applied universal magnetic spin vector is proposed. To realize quick and non-contact steering swimming, a fuzzy comprehensive evaluation method for optimizing the steering driving angle is presented based on two evaluation indexes including the average steering speed and the average steering trajectory deviation, achieving the initial optimal orientation of a universal magnetic spin vector. To further reduce robotic magnetic vibration, a main target method for optimizing its final orientation, which is used for fine adjustment, is employed under the constrains of the magnetic moments. Swimming experimental results in curve pipe verified the effectiveness of the optimization method, which can be effectively used to realize non-contact steering swimming of the petal-shaped robot and reduce its vibration.