Trajectory planning of mobile robots using DNA computing

Author

Kiguchi, Kazuo ; Watanabe, Keigo ; Fukuda, Toshio

Author_Institution

Dept. of Adv. Syst. Control Eng., Saga Univ., Japan

fYear

2001

fDate

6/23/1905 12:00:00 AM

Firstpage

380

Lastpage

385

Abstract

Recently, DNA computers attract attention as computers of next generation taking over the present electronic computers. Computation can be realized by chemical reaction of DNA. This paper presents an optimal trajectory planning method of mobile robots using DNA computing. In this method, a working area of a mobile robot is divided into many sections. Then the shortest trajectory avoiding obstacles in the work area is calculated with DNA computing. The location of the obstacles is supposed to be known in advance. In the process of DNA computing, Watson-Crick pairing is performed to find the shortest trajectory in the working area. The DNA sequences representing the locations of the obstacles are removed in this process. The obtained shortest DNA molecule that begins with the start section and terminates with the goal section represents the shortest trajectory avoiding the obstacles in the work area of the mobile robot. The proposed algorithm is especially effective on a DNA molecular computer.

Keywords

biocomputing; mobile robots; path planning; DNA computing; DNA molecular computer; Watson-Crick pairing; chemical reaction; mobile robots; optimal trajectory planning method; trajectory planning; Annealing; Chemical technology; Control engineering; DNA computing; Electronic mail; Intelligent robots; Mobile robots; Sequences; Technology planning; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2001. Proceedings 2001 IEEE International Symposium on

Print_ISBN

0-7803-7203-4

Type

conf

DOI

10.1109/CIRA.2001.1013229

Filename

1013229