Secure Angle-Based Geometric Elimination (SAGE) for Microrobot Path Planning.

ABSTRACT: Microrobot navigation in constrained environments requires path planning methods that ensure both efficiency and collision avoidance. Conventional approaches, which typically combine graph-based path finding with geometric path simplification, effectively reduce path complexity but often generate collision-prone paths because wall boundaries are not considered during simplification. Therefore, to overcome this limitation, we present Secure Angle-based Geometric Elimination (SAGE), a single-pass path-simplification algorithm that converts pixel-level shortest paths into low-complexity trajectories suitable for real-time collision-free navigation of microrobots. SAGE inspects consecutive triplets (p_i, p_i+1, p_i+2) and

SUBMITTER: Ko Y 

PROVIDER: S-EPMC12654680 | biostudies-literature | 2025 Nov

REPOSITORIES: biostudies-literature