The application discloses a kind of magnetic micro-
robot parallel collaborative field
navigation system, it is related to micro-nano operation technical field, and the micro resource conflict resolution scheduler MCDO in this
system is based on the smooth single-
machine path of dynamic evolution navigation planner DEN, the safety path constraint of conflict-aware evolutionary planner CAEP and the coil current with anti-interference control of double-field disturbance
suppressor DFDS, to each magnetic micro-
robot planning
obstacle avoidance path and outputting multi-
machine conflict-free instruction, to drive
coil array to generate distributed gradient
magnetic field, realize multi-
robot independent drive;Micro-vision anchor MVAM is used to track the motion trajectory of magnetic micro-robot in real time, and provides robot
pose data for MCDO and DFDS.The above-mentioned module realizes the whole
process logic closed-loop management and control from path planning to physical drive, interference suppression to state monitoring, and is improved in path planning efficiency, anti-interference control accuracy, multi-
machine cooperation capability, environment
adaptation and the like.