Localization for robotic capsule looped by axially magnetized permanent-magnet ring based on hybrid strategy

Abstract

Wanan Yang,1 Yan Li,2 Fengqing Qin11School of Computer and Information Engineering, 2Computer Science and Technology Institute, Yibin University, Yibin, People's Republic of ChinaAbstract: To actively maneuver a robotic capsule for interactive diagnosis in the gastrointestinal tract, visualizing accurate position and orientation of the capsule when it moves in the gastrointestinal tract is essential. A possible method that encloses the circuits, batteries, imaging device, etc into the capsule looped by an axially magnetized permanent-magnet ring is proposed. Based on expression of the axially magnetized permanent-magnet ring's magnetic fields, a localization and orientation model was established. An improved hybrid strategy that combines the advantages of particle-swarm optimization, clone algorithm, and the Levenberg–Marquardt algorithm was found to solve the model. Experiments showed that the hybrid strategy has good accuracy, convergence, and real time performance.Keywords: localization, permanent-magnet ring, robotic capsule, hybrid strategy