A neural network methodology for path planning and coordination of car-like robots

A car-like indoor mobile robot is a kinematically constrained robot that can be modeled as a 2D object translating and rotating in the horizontal plane among well- defined obstacles. The kinematic constraints impose that the linear velocity of the robot is along its main axis (no sideways motion is possible) and restrict the range of admissible values for the steering angle. The goal of this study is to combine neural network techniques and motion planning algorithms to create a new methodology for coordinating the motion of multiple car-like robots avoiding collision with polygonal obstacles in a work environment. An incremental technique is used to develop this methodology. First, a strategy for planning the path of a point robot moving in the presence of obstacles is constructed. Second, this strategy is adapted to path planning for a polygonal robot. Third, holonomic and non-holonomic constraints are imposed on the robot and the method is further refined. Finally, a plan for the coordinated motion of multiple car-like robots is devised through use of the concept of coordination space --Abstract, page iii

Computing with Membranes and Picture Arrays

Splicing systems were introduced by Tom Head [3] on biological considerations to model certain recombinant behaviour of DNA molecules. An effective extension of this operation to images was introduced by Helen Chandra et al. [5] and H array splicing systems were considered. A new method of applying the splicing operation on images of hexagonal arrays was introduced by Thomas et al. [12] and generated a new class of hexagonal array languages HASSL. On the other hand, P systems, introduced by Paun [6] generating rectangular arrays and hexagonal arrays have been studied in the literature, bringing together the two areas of theoretical computer science namely membrane computing and picture languages. P system with array objects and parallel splicing operation on arrays is introduced as a simple and effective extension of P system with operation of splicing on strings and this new class of array languages is compared with the existing families of array languages. Also we propose another P system with hexagonal array objects and parallel splicing operation on hexagonal arrays is introduced and this new class of hexagonal array languages is compared with the existing families of hexagonal array languages