Mathematical Problems in Engineering
Volume 2007 (2007), Article ID 61543, 13 pages
doi:10.1155/2007/61543
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.