Implementation of mobile robot by using double-scroll chaotic attractors

Authors:
Christos K. Volos;N. G. Bardis;Ioannis M. Kyprianidis;Ioannis N. Stouboulos
Affiliations:
Faculty of Mathematics and Engineering Studies, Department of Military Sciences, Univ. of Military Education, Hellenic Army Academy, Athens, Greece;Faculty of Mathematics and Engineering Studies, Department of Military Sciences, Univ. of Military Education, Hellenic Army Academy, Athens, Greece;Department of Physics, Aristotle University of Thessaloniki, Thessaloniki, Greece;Department of Physics, Aristotle University of Thessaloniki, Thessaloniki, Greece
Venue:
ACA'12 Proceedings of the 11th international conference on Applications of Electrical and Computer Engineering
Year:
2012

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Abstract

In the present work, the chaotic motion control of a mobile robot is studied, in order to cover a terrain with unpredictable way. The proposed control strategy is based on a chaotic path planning generator. As a chaotic generator, we have used three different nonlinear dynamical systems, the Chua oscillator, the Lorenz system, and a nonlinear circuit with a nonlinear resistor having an i-v characteristic based on a saturation function. The comparative results show that the third system has significantly bigger terrain coverage, among the proposed dynamical systems.