Novel Bioinspired Approach Based on Chaotic Dynamics for Robot Patrolling Missions with Adversaries

Curiac, Daniel-Ioan; Baniaș, Ovidiu; Voloşencu, Constantin; Curiac, Christian-Daniel

doi:10.3390/e20050378

Cited by 25 publications

(12 citation statements)

References 42 publications

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“…The algorithm enters the "local optimum" and fails to complete the path planning. Therefore, this article set the coefficient path and the safety distance D as shown in Equation (10). In this way, the agent has a certain probability to take the optimal behavior.…”

Section: Multiple Destination Global Path Planning Strategy Based On ...mentioning

confidence: 99%

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Multi-Destination Path Planning Method Research of Mobile Robots Based on Goal of Passing through the Fewest Obstacles

Zhuang

Dong

et al. 2021

Applied Sciences

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In order to effectively solve the inefficient path planning problem of mobile robots traveling in multiple destinations, a multi-destination global path planning algorithm is proposed based on the optimal obstacle value. A grid map is built to simulate the real working environment of mobile robots. Based on the rules of the live chess game in Go, the grid map is optimized and reconstructed. This grid of environment and the obstacle values of grid environment between each two destination points are obtained. Using the simulated annealing strategy, the optimization of multi-destination arrival sequence for the mobile robot is implemented by combining with the obstacle value between two destination points. The optimal mobile node of path planning is gained. According to the Q-learning algorithm, the parameters of the reward function are optimized to obtain the q value of the path. The optimal path of multiple destinations is acquired when mobile robots can pass through the fewest obstacles. The multi-destination path planning simulation of the mobile robot is implemented by MATLAB software (Natick, MA, USA, R2016b) under multiple working conditions. The Pareto numerical graph is obtained. According to comparing multi-destination global planning with single-destination path planning under the multiple working conditions, the length of path in multi-destination global planning is reduced by 22% compared with the average length of the single-destination path planning algorithm. The results show that the multi-destination global path planning method of the mobile robot based on the optimal obstacle value is reasonable and effective. Multi-destination path planning method proposed in this article is conducive to improve the terrain adaptability of mobile robots.

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Section: Multiple Destination Global Path Planning Strategy Based On ...mentioning

confidence: 99%

“…The multi-destination path planning for mobile robots is defined by Marek Cuchý. It is a collision-free and feasible path for mobile robots to move from a starting point to two or more destinations [7][8][9][10][11][12]. Although the traditional path planning method can also be used for multi-destination path planning, there are problems.…”

Section: Introductionmentioning

confidence: 99%

Multi-Destination Path Planning Method Research of Mobile Robots Based on Goal of Passing through the Fewest Obstacles

Zhuang

Dong

et al. 2021

Applied Sciences

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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%

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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“…Chaos plays a significant role in many fields, such as biological systems dealing with the human heart and brain [7], protected communication systems [8], smart systems [9], digital signal processing [10], data encryption [11], robotics engineering [12], adaptive control engineering [13], and nonlinear oscillator designs [14]. Recently, several fractionalorder systems are proposed to have exhibit chaotic behavior, such as a fractional-order Lotka-Volterra system, a fractional-order Chua Hartley oscillator, a fractional-order Van der Pol oscillator [15], a fractional-order Lui system [16], a fractional-order Lorenz system [17], and many other systems [18].…”

Section: Introductionmentioning

confidence: 99%

A New Fractional-Order Chaotic System with Its Analysis, Synchronization, and Circuit Realization for Secure Communication Applications

et al. 2021

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This article presents a novel four-dimensional autonomous fractional-order chaotic system (FOCS) with multi-nonlinearity terms. Several dynamics, such as the chaotic attractors, equilibrium points, fractal dimension, Lyapunov exponent, and bifurcation diagrams of this new FOCS, are studied analytically and numerically. Adaptive control laws are derived based on Lyapunov theory to achieve chaos synchronization between two identical new FOCSs with an uncertain parameter. For these two identical FOCSs, one represents the master and the other is the slave. The uncertain parameter in the slave side was estimated corresponding to the equivalent master parameter. Next, this FOCS and its synchronization were realized by a feasible electronic circuit and tested using Multisim software. In addition, a microcontroller (Arduino Due) was used to implement the suggested system and the developed synchronization technique to demonstrate its digital applicability in real-world applications. Furthermore, based on the developed synchronization mechanism, a secure communication scheme was constructed. Finally, the security analysis metric tests were investigated through histograms and spectrograms analysis to confirm the security strength of the employed communication system. Numerical simulations demonstrate the validity and possibility of using this new FOCS in high-level security communication systems. Furthermore, the secure communication system is highly resistant to pirate attacks. A good agreement between simulation and experimental results is obtained, showing that the new FOCS can be used in real-world applications.

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Novel Bioinspired Approach Based on Chaotic Dynamics for Robot Patrolling Missions with Adversaries

Cited by 25 publications

References 42 publications

Multi-Destination Path Planning Method Research of Mobile Robots Based on Goal of Passing through the Fewest Obstacles

Multi-Destination Path Planning Method Research of Mobile Robots Based on Goal of Passing through the Fewest Obstacles

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

A New Fractional-Order Chaotic System with Its Analysis, Synchronization, and Circuit Realization for Secure Communication Applications

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