Mixed obstacle avoidance in mobile chaotic robots with directional keypads and its non-identical generalized synchronization

Marwan, Muhammad; Li, Feng; Ahmad, Salman; Wang, Ning

doi:10.1007/s11071-024-10361-z

Nonlinear Dyn

2024

DOI: 10.1007/s11071-024-10361-z

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Mixed obstacle avoidance in mobile chaotic robots with directional keypads and its non-identical generalized synchronization

Muhammad Marwan,

Feng Li,

Salman Ahmad

et al.

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References 42 publications

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Chaos-based coverage path planning framework for mobile robots and its digital signal processing implementation

Zhang,

Xing,

et al. 2024

Phys. Scr.

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For special coverage path planning, chaos-based mobile robots present a promising solution. The robot can cover the area of interest rapidly with unpredictable trajectories. However, this unpredictability causes difficulties in trajectory control and the robot often makes sharp turns, affecting motion stability. To address these challenges, this paper proposes a universal chaos-based path planning framework for mobile robots. Firstly, a chaotic system that can generate multi-scroll and multi-wing attractors is designed to verify the effectiveness of the framework. Secondly, an integrated system consisting of mobile robots and chaos is proposed to generate chaotic trajectories. By the control parameters in the integrated system, the formation mechanism of continuous chaotic trajectories is shown, which makes the chaotic trajectory have the advantages of scaling, rotating, straightening, and bending, and the path planning no longer relies on the chaotic system only. Then, a regional path planning strategy is proposed to control the angular velocity and workspace of the robot, making its motion smooth and reducing trajectory redundancy. Experiments conducted under this framework have demonstrated its university, with various chaotic systems capable of generating efficient robot trajectories with high coverage rate. Compared with the state-of-the-art similar memoryless algorithms, the coverage task can be accomplished quickly and efficiently by our approach. Finally, the robot trajectory tracking control verifies the controllability of chaotic trajectories, and the implementation of chaotic trajectories with digital signal processing techniques further validates the feasibility of path planning frameworks.

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Chaos-based coverage path planning framework for mobile robots and its digital signal processing implementation

Zhang,

Xing,

et al. 2024

Phys. Scr.

View full text Add to dashboard Cite

show abstract

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Mixed obstacle avoidance in mobile chaotic robots with directional keypads and its non-identical generalized synchronization

Cited by 1 publication

References 42 publications

Chaos-based coverage path planning framework for mobile robots and its digital signal processing implementation

Chaos-based coverage path planning framework for mobile robots and its digital signal processing implementation

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