Mixed obstacle avoidance in mobile chaotic robots with directional keypads and its non-identical generalized synchronization

In the presented work, two chaotic systems are fitted as generators into robots based on two wheels to observe its movement. Considering that obstacle avoidance and path following are the basic features in the robot, we introduce new feature of key-based directional movement. In the situation, where Mobile Chaotic Robots get closer to an obstacle will ask the direction first and proceed accordingly. Due to this feature, such robots will be under the control of their users before facing specific obstacles. Taking three types of obstacles, i.e., circles, triangles, and rectangles as hurdles, each obstacle bear novel characteristics. In the case of obstacle avoidance for circles, four algorithms are presented to solve the problems of difference in size and type of polygons having three or four vertices itself. In second portion, three types of synchronizations techniques are used in the presence of the discussed obstacles, including two different robots synchronizes each other using adaptive controller, clusters of each robot using cluster synchronization, and generalized synchronization for synchronizing each group of cluster with their corresponding master robots. Numerical simulations are presented for demonstration.