Patrol Mobile Robots and Chaotic Trajectories

Abstract

This paper presents a study of special trajectories attainment for mobile robots based on the dynamical features of chaotic systems. This method of trajectories construction is envisaged for missions for terrain exploration, with the specific purpose of search or patrol, where fast scanning of the robot workspace is required. We propose the imparting of chaotic motion behavior to the mobile robot by means of a planner of goal positions sequence based on an area-preserving chaotic map. As a consequence, the robot trajectories seem highly opportunistic and unpredictable for external observers, and the trajectories's characteristics ensure the quick scanning of the patrolling space. The kinematic modeling and the closed-loop control of the robot are described. The results and discussion of numerical simulations close the paper.

A new three-dimensional chaotic system with a hidden attractor, circuit design and application in wireless mobile robot

“…In the last decade, the interaction between chaos theory and mobile robots has been studied intensively, such as chaotic behaviour on a fire fighting robot [30], floor-cleaning operation robot [31], patrol mobile robot [32], motion control of robots using a chaotic truly random bits generator [33] and chaotic mobile robot using fuzzy logic [34].…”

An Improved Chaotic Motion Path Planner for Autonomous Mobile Robots Based on a Logistic Map

“…The autonomous mobile robot considered in this work is a typical differential motion with two degrees of freedom, composed by two active, parallel and independent wheels, and a third passive wheel with an exclusive equilibrium function [12]. The active wheels are independently controlled on velocity and sense of turning.…”

Adaptive Fuzzy Knowledge Based Controller for Autonomous Robot Motion Control

“…These values such as "slightly increasing" and fuzzy operators such as "and" are compiled into numerical objects and algorithms: Function tables, interpolation and comparators. Due to its easy use and its better performance; fuzzy logic control has become the most popular control tool for many researchers in the field of robotics control (Cardenas, 2004;Elmaliach et al, 2007;Martins-Filho and Macau, 2007;Ryu et al, 2006;Peri, 2002;Cho and Youn, 2006;Nakamura and Sekiguchi, 2001). For example in (Astudillo et al, 2006) the authors proposed an intelligent control of an autonomous mobile robot using Typ-2-Fuzzy Logic.…”