Trajectory planning of mobile robots using DNA computing

Kazuo Kiguchi, Keigo Watanabe, Toshio Fukuda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

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 a DNA molecular computer.

Original languageEnglish
Title of host publicationProceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Subtitle of host publicationIntegrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001
EditorsHong Zhang, Peter Xiaoping Liu
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages380-385
Number of pages6
ISBN (Electronic)0780372034
DOIs
Publication statusPublished - Jan 1 2001
Externally publishedYes
EventIEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001 - Banff, Canada
Duration: Jul 29 2001Aug 1 2001

Publication series

NameProceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
Volume2001-January

Other

OtherIEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001
CountryCanada
CityBanff
Period7/29/018/1/01

ASJC Scopus subject areas

  • Computational Mathematics

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  • Cite this

    Kiguchi, K., Watanabe, K., & Fukuda, T. (2001). Trajectory planning of mobile robots using DNA computing. In H. Zhang, & P. X. Liu (Eds.), Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001 (pp. 380-385). [1013229] (Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA; Vol. 2001-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CIRA.2001.1013229