Figure 3
From: Autonomous navigation of a magnetic colonoscope using force sensing and a heuristic search algorithm
Illustration of the trace, moving speed and force variation in localization function. (a) The tracking path illustrates a localization trace after the tracking process is stopped. The starting point of EPM was placed at (x = 347, y = 315), and the IPM was placed at (x = 464, y = 187) with a vertical height difference of 7.5 cm. (b) The variation in motor speed and force vectors are presented.
