An Optimised Path Planning Method for Smooth Insect-Robot Interaction
23rd IEEE International Conference on Mechatronics and Automation, ICMA 2026, Changchun, Çin, 2 - 05 Ağustos 2026, ss.1349-1354, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Doi Numarası: 10.1109/icma69663.2026.11647560
- Basıldığı Şehir: Changchun
- Basıldığı Ülke: Çin
- Sayfa Sayıları: ss.1349-1354
- Anahtar Kelimeler: Biohybrid Robotics, Honeybees, Insect-Robot Interactions
- Orta Doğu Teknik Üniversitesi Adresli: Evet
Özet
Biohybrid robotic systems provide a promising approach for studying animal behaviour through controlled physical interaction. In honeybee colonies, this requires the robot to follow a moving queen smoothly and safely in a dense, dynamic environment without disturbing nearby workers. This paper presents an optimised path planning method for smooth insect-robot interaction in a dense environment. We develop a dedicated robotic bee platform and formulate the queen following task as a continuous trajectory optimisation problem that jointly considers motion smoothness, kinematic feasibility, goal tracking, body orientation, and collision avoidance. Our method achieves high-order continuity of trajectories and real-time replanning. Simulation and real-world experiments demonstrate that the proposed framework can generate safe, smooth, and biologically compatible trajectories for close interaction with a moving queen bee.