Benjamin De Lacy Costello Ben.DeLacyCostello@uwe.ac.uk
Associate Professor in Diagnostics and Bio-Sensing Technology
Experimental reaction-diffusion chemical processors for robot path planning
de Lacy Costello, Ben; Adamatzky, Andrew; Ratcliffe, Norman M.; Melhuish, Chris
Authors
Andrew Adamatzky Andrew.Adamatzky@uwe.ac.uk
Professor
Norman Ratcliffe Norman.Ratcliffe@uwe.ac.uk
Professor in Materials & Sensors Science
Chris Melhuish Chris.Melhuish@uwe.ac.uk
Professor of Robotics & Autonomous Systems
Abstract
In this paper we discuss the experimental implementation of a chemical reaction-diffusion processor for robot motion planning in terms of finding the shortest collision-free path for a robot moving in an arena with obstacles. These reaction-diffusion chemical processors for robot navigation are not designed to compete with existing silicon-based controllers. These controllers are intended for the incorporation into future generations of soft-bodied robots built of electro- and chemo-active polymers. In this paper we consider the notion of processing as being implicit in the physical medium constituting the body of a 'soft' robot. This work therefore represents some early steps in the employment of excitable media controllers. An image of the arena in which the robot is to navigate is mapped onto a thin-layer chemical medium using a method that allows obstacles to be represented as local changes in the reactant concentrations. Disturbances created by the 'objects' generate diffusive and phase wave fronts. The spreading waves approximate to a repulsive field generated by the obstacles. This repulsive field is then inputted into a discrete model of an excitable reaction-diffusion medium, which computes a tree of shortest paths leading to a selected destination point. Two types of chemical processors are discussed: a disposable palladium processor, which executes arena mapping from a configuration of obstacles, given before an experiment and, a reusable Belousov-Zhabotinsky processor which allows for online path planning and adaptation for dynamically changing configurations of obstacles.
Citation
Adamatzky, A., de Lacy Costello, B., Ratcliffe, N. M., & Melhuish, C. (2003). Experimental reaction-diffusion chemical processors for robot path planning. Journal of Intelligent and Robotic Systems, 37(3), 233-249. https://doi.org/10.1023/A%3A1025414424756
Journal Article Type | Article |
---|---|
Publication Date | Jul 1, 2003 |
Deposit Date | May 7, 2013 |
Journal | Journal of Intelligent and Robotic Systems: Theory and Applications |
Print ISSN | 0921-0296 |
Publisher | Springer Verlag |
Peer Reviewed | Peer Reviewed |
Volume | 37 |
Issue | 3 |
Pages | 233-249 |
DOI | https://doi.org/10.1023/A%3A1025414424756 |
Keywords | unconventional robotics, reaction–diffusion, wave-based processors, excitable media, shortest path computation |
Public URL | https://uwe-repository.worktribe.com/output/1068759 |
Publisher URL | http://dx.doi.org/10.1023/A:1025414424756 |
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