# 光驱动 Janus 微机器人的视觉引导闭环自主导航

> 原文链接：https://robotics.hellobike.com/papers/2026-10-15-2610-21222
> 频道：papers | 更新日期：2026-10-15 | 标签：arxiv, cs.RO
> 核心摘要：针对微米尺度动态导航难题，框架融合 YOLOv11 视觉定位与航点磁控，并在轨迹、迷宫避障和货运中验证。

# 光驱动 Janus 微机器人的视觉引导闭环自主导航

::: v-pre
> 原文链接：[Vision-Guided Closed-Loop Autonomous Navigation of Light-Driven Janus Microbots](https://arxiv.org/abs/2610.21222)（arXiv 2610.21222 · 发布日期：2026-10-15）

**Vision-Guided Closed-Loop Autonomous Navigation of Light-Driven Janus Microbots**

针对微米尺度动态导航难题，框架融合 YOLOv11 视觉定位与航点磁控，并在轨迹、迷宫避障和货运中验证。

## 核心要点

- 微机器人可用于微尺度运输、操控和任务执行，但动态环境下可靠导航困难。
- 框架将定制训练的 YOLOv11 实时视觉定位与离散航点式磁转向结合。
- 在复杂预设轨迹上，测试路径几何中超过90%的轨迹偏差低于6 μm。
- 还支持手绘轨迹、受限迷宫自主导航、A* 动态重规划与选择性货物递送。

**验证范围与局限**：验证对象为约3 μm立方赤铁矿/TiO2 Janus 微机器人，场景限于摘要所述轨迹、迷宫、动态障碍和货物任务。

## 英文摘要 (Abstract)

Artificial microbots capable of precise and autonomous navigation could provide versatile platforms for microscale transport, manipulation, and task execution in complex environments. However, reliable navigation becomes increasingly challenging at the micrometre scale, particularly when the surrounding environment changes dynamically. Here, we develop a vision-guided closed-loop navigation framework for light-driven cube-shaped hematite/TiO2 Janus microbots with a characteristic size of approximately 3 μm. Real-time visual localization using a custom-trained YOLOv11 object-detection model is integrated with discretized waypoint-based magnetic steering to enable precise navigation along complex prescribed trajectories, with more than 90% of the measured trajectory deviations remaining below 6 μm across the tested path geometries. The framework further enables arbitrary user-defined free-hand trajectories and autonomous navigation through a physically confined maze. In dynamically changing environments, A* path planning enables real-time path replanning while avoiding multiple independently swimming 5 μm spherical Janus micromotors. Finally, the microbot selectively captures multiple cargo particles and autonomously transports and delivers them to a predefined location while simultaneously avoiding dynamic obstacles. These results establish an integrated platform combining programmable trajectory control, autonomous path planning, real-time environmental adaptation, and task execution within a single light-driven Janus microbot system.

作者：Kanhu Charan Andia, Harsh Prashant Katole, Parth Nitinkumar Bhosale, Hemant Kumar, Dhruv Pratap Singh
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## 原始参考来源 (Sources)

- [arXiv 2610.21222：Vision-Guided Closed-Loop Autonomous Navigation of Light-Driven Janus Microbots](https://arxiv.org/abs/2610.21222)