DocumentCode :
3569853
Title :
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
Link To Document :
بازگشت