Integral Line-of-Sight Curved Path Following of Helical Microswimmers Actuated by Rotating Magnetic Dipoles

TL;DR

This paper presents an ILOS guidance law enabling curved path following for helical microswimmers actuated by rotating magnetic dipoles, effective across different frequency regimes.

Contribution

It introduces a novel integral line-of-sight guidance law tailored for helical microswimmers controlled by rotating magnetic dipoles.

Findings

Effective path following in both below and beyond step-out frequency regimes.

The proposed guidance law improves control accuracy for microswimmers.

Potential applications in targeted medical procedures.

Abstract

This short paper investigates the problem of curved path following for helical microswimmers actuated by rotating magnetic dipoles. The proposed solution, which relies on an integral line-of-sight (ILOS) guidance law, can be utilized in both below and beyond step-out frequency regimes.