The area-coverage path planning of a novel memristor-based double-stroll chaotic system for autonomous mobile robots

被引：0
作者：
Liu, Ping [1 ]
Sun, Jinju [1 ]
Qin, Hongzheng [1 ]
Wang, Chunying [1 ]
机构：
[1] Agr Univ Shandong, Coll Mech & Elect Engn, Tai An, Shandong, Peoples R China
来源：
2017 CHINESE AUTOMATION CONGRESS (CAC) | 2017年
基金：
中国国家自然科学基金;
关键词：
Autonomous mobile robot; double-stroll chaotic system; area-coverage path planning; memristor;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In order to cover unknown workspace of mobile robots, an area-coverage path planning which is controlled by a novel memristor-based double-stroll chaotic system has been proposed in this paper. The motion path of the mobile robots is unpredictability, randomly, and evenly. The characteristics of unpredictability of motion path and the fast scanning have lots of usage, such as the surveillance of terrains, search or cleaning purposes and the patrolling for intrusion in military facilities. The novel memristor-based double-stroll chaotic system is given to generate higher unpredictability, more even and faster scanning path. Chaotic trajectories are executed using state variables of the new double-stroll chaotic system as input for a mobile robot through two independent active wheels. Simulation results and its analysis illustrate the usefulness and effectiveness of the proposed motion control strategy.
引用
收藏
页码：6982 / 6987
页数：6
相关论文
共 29 条
  • [11] The joint optimal filtering and fault detection for multi-rate sensor fusion under unknown inputs
    Geng, Hang
    Liang, Yan
    Yang, Feng
    Xu, Linfeng
    Pan, Quan
    [J]. INFORMATION FUSION, 2016, 29 : 57 - 67
  • [12] Hameed I.A., 2013, INT J ADV ROBOT SYST, V10, P119
  • [13] Hara N, 2010, P AMER CONTR CONF, P4271
  • [14] Iagnemma K., 2009, MULTIELEMENT GEN POL
  • [15] Use of unmanned vehicles in search and rescue operations in forest fires: Advantages and limitations observed in a field trial
    Karma, S.
    Zorba, E.
    Pallis, G. C.
    Statheropoulos, G.
    Balta, I.
    Mikedi, K.
    Vamvakari, J.
    Pappa, A.
    Chalaris, M.
    Xanthopoulos, G.
    Statheropoulos, M.
    [J]. INTERNATIONAL JOURNAL OF DISASTER RISK REDUCTION, 2015, 13 : 307 - 312
  • [16] An Improved Chaotic Motion Path Planner for Autonomous Mobile Robots based on a Logistic Map
    Li, Caihong
    Wang, Fengying
    Zhao, Lei
    Li, Yibin
    Song, Yong
    [J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2013, 10
  • [17] Multisensor based security robot system for intelligent building
    Luo, Ren C.
    Lin, Tung Y.
    Su, Kuo L.
    [J]. ROBOTICS AND AUTONOMOUS SYSTEMS, 2009, 57 (03) : 330 - 338
  • [18] MARTINSFILHO LS, 2007, TRAJECTORY PLANNING, V76, P109
  • [19] A Robotic Approach to Understanding the Role and the Mechanism of Vicarious Trial-And-Error in a T-Maze Task
    Matsuda, Eiko
    Hubert, Julien
    Ikegami, Takashi
    [J]. PLOS ONE, 2014, 9 (07):
  • [20] Murase K., 2005, NEURAL NETWORKS, V18, P123
123