TY - GEN
T1 - Trajectory planning of mobile robots using DNA computing
AU - Kiguchi, Kazuo
AU - Watanabe, Keigo
AU - Fukuda, Toshio
PY - 2001/1/1
Y1 - 2001/1/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=49949118936&partnerID=8YFLogxK
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U2 - 10.1109/CIRA.2001.1013229
DO - 10.1109/CIRA.2001.1013229
M3 - Conference contribution
AN - SCOPUS:49949118936
T3 - Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
SP - 380
EP - 385
BT - Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation
A2 - Zhang, Hong
A2 - Liu, Peter Xiaoping
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001
Y2 - 29 July 2001 through 1 August 2001
ER -