A chaotic path planning generator based on logistic map and modulo tactics

Moysis, Lazaros; Petavratzis, Eleftherios K.; Volos, Christos; Nistazakis, Hector E.; Stouboulos, I. N.

doi:10.1016/j.robot.2019.103377

Cited by 59 publications

(29 citation statements)

References 36 publications

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“…Using a chaotic system to generate the trajectory of the robot leads to a movement that is unpredictable and looks arbitrary to an outside observer. us, chaotic path planning is an effective approach for grid coverage that is attractive to applications that consider obstacles, surveillance, search and rescue missions, and domestic applications [39][40][41][42][43][44][45][46][47][48][49].…”

Section: Application To Chaotic Path Planningmentioning

confidence: 99%

“…is is a first indication that the coverage performance will give satisfactory results, since an uneven distribution of the motion commands would clearly lead to the robot moving in a skewed way on the grid. A similar approach using the modulo operator was considered in [46], where the discrete time logistics map was used. In that work, the chaotic system was discrete, so the use of sampling and its effect on the coverage performance were not explored.…”

Section: Motion In Eight Directionsmentioning

confidence: 99%

“…It can also be easily adjusted to different scenarios, like grids with obstacles, or labyrinth-like environments. Also, this chaotic path planning technique can be potentially applied to robots with different moving capabilities [59][60][61] and can also be combined with other advanced techniques, like the inverse pheromone approach [46,56], multiagent and swarm robotics [62,63], and more [64][65][66].…”

Section: I(i) �mentioning

confidence: 99%

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Analysis, Synchronization, and Robotic Application of a Modified Hyperjerk Chaotic System

et al. 2020

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In this work, a novel hyperjerk system, with hyperbolic sine function as the only nonlinear term, is proposed, as a modification of a hyperjerk system proposed by Leutcho et al. First, a dynamical analysis on the system is performed and interesting phenomena concerning chaos theory, such as route to chaos, antimonotonicity, crisis, and coexisting attractors, are studied. For this reason, the system’s bifurcation diagrams with respect to different parameter values are plotted and its Lyapunov exponents are computed. Afterwards, the synchronization of the system is considered, using active control. The proposed system is then applied, as a chaotic generator, to the problem of chaotic path planning, using a combination of sampling and a modulo tactic technique.

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Section: Application To Chaotic Path Planningmentioning

confidence: 99%

Section: Motion In Eight Directionsmentioning

confidence: 99%

Section: I(i) �mentioning

confidence: 99%

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Analysis, Synchronization, and Robotic Application of a Modified Hyperjerk Chaotic System

et al. 2020

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“…In Section 2 the applications of chaos to communications are illustrated [2][3][4][5][6][7][8][9][10][11][12], including the use of chaos in radar-based systems and underwater acoustic channels. Section 3 highlights how chaos may represent a promising approach in sensing applications [13], whereas Section 4 illustrates different applications of chaos in robotic motion [14][15][16]. In Section 5 it is shown how chaos can give significant insights to the quality assessments of fruits and vegetables [17].…”

Section: Introductionmentioning

confidence: 99%

Chaos in the Real World: Recent Applications to Communications, Computing, Distributed Sensing, Robotic Motion, Bio-Impedance Modelling and Encryption Systems

Grassi

2021

Symmetry

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Most of the papers published so far in literature have focused on the theoretical phenomena underlying the formation of chaos, rather than on the investigation of potential applications of chaos to the real world. This paper aims to bridge the gap between chaos theory and chaos applications by presenting a survey of very recent applications of chaos. In particular, the manuscript covers the last three years by describing different applications of chaos as reported in the literature published during the years 2018 to 2020, including the matter related to the symmetry properties of chaotic systems. The topics covered herein include applications of chaos to communications, to distributed sensing, to robotic motion, to bio-impedance modelling, to hardware implementation of encryption systems, to computing and to random number generation.

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“…In order to design a seemingly random motion that will also guarantee efficient grid exploration, many researchers have considered chaotic path planning [2,[18][19][20][21][22][23][24][25][26][27][28][29][30][31][32][33]. In this approach, a chaotic dynamical system is utilized to generate a chaotic motion trajectory, that is then performed by the robot to achieve efficient coverage.…”

Section: Introductionmentioning

confidence: 99%

An Inverse Pheromone Approach in a Chaotic Mobile Robot’s Path Planning Based on a Modified Logistic Map

et al. 2019

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One major topic in the research of path planning of autonomous mobile robots is the fast and efficient coverage of a given terrain. For this purpose, an efficient method for covering a given workspace is proposed, based on chaotic path planning. The method is based on a chaotic pseudo random bit generator that is generated using a modified logistic map, which is used to generate a chaotic motion pattern. This is then combined with an inverse pheromone approach in order to reduce the number of revisits in each cell. The simulated robot under study has the capability to move in four or eight directions. From extensive simulations performed in Matlab, it is derived that motion in eight directions gives superior results. Especially, with the inclusion of pheromone, the coverage percentage can significantly be increased, leading to better performance.

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A chaotic path planning generator based on logistic map and modulo tactics

Cited by 59 publications

References 36 publications

Analysis, Synchronization, and Robotic Application of a Modified Hyperjerk Chaotic System

Analysis, Synchronization, and Robotic Application of a Modified Hyperjerk Chaotic System

Chaos in the Real World: Recent Applications to Communications, Computing, Distributed Sensing, Robotic Motion, Bio-Impedance Modelling and Encryption Systems

An Inverse Pheromone Approach in a Chaotic Mobile Robot’s Path Planning Based on a Modified Logistic Map

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