A chaotic path planning generator for autonomous mobile robots

Authors:
Ch. K. Volos;I. M. Kyprianidis;I. N. Stouboulos
Affiliations:
Department of Mathematics and Engineering Studies, Hellenic Army Academy, Athens, GR-16673, Greece;Physics Department, Aristotle University of Thessaloniki, GR-54124, Greece;Physics Department, Aristotle University of Thessaloniki, GR-54124, Greece
Venue:
Robotics and Autonomous Systems
Year:
2012

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Abstract

This work presents a chaotic path planning generator which is used in autonomous mobile robots, in order to cover a terrain. The proposed generator is based on a nonlinear circuit, which shows chaotic behavior. The bit sequence, produced by the chaotic generator, is converted to a sequence of planned positions, which satisfies the requirements for unpredictability and fast scanning of the entire terrain. The nonlinear circuit and the trajectory-planner are described thoroughly. Simulation tests confirm that with the proposed path planning generator better results can be obtained with regard to previous works.