Trajectory Planning of Mobile Robots Using DNA Computing
Kazuo Kiguchi*, Keigo Watanabe*, and Toshio Fukuda**
*Dept. of Advanced Systems Control Engineering, Saga University, 1 Honjomachi, Saga-shi, Saga 840-8502, Japan
**Center of Cooperative Research in Advanced Science and Technology, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
DNA computers are attracting increasing attention as next-generation replacements for conventional electronic computers. Computation is realized using the chemical reaction of DNA. This paper presents optimal trajectory planning for mobile robots using DNA computing. The working area of a mobile robot is divided into many sections and the shortest trajectory avoiding obstacles in the work area is calculated by DNA computing. The location of obstacles is known in advance. In DNA computing, Watson-Crick pairing is used to find this trajectory. DNA sequences representing locations of obstacles are removed in this process. The shortest DNA molecule that begins with the start section and terminates with the goal section represents the shortest trajectory avoiding obstacles in the robot’s work area. The proposed algorithm is especially effective with a DNA molecular computer.