Fractal, chaos and neural networks in path generation of mobile robot

被引：12

作者：

Nasr, Salah ^{[1
]}

Bouallegue, Kais ^{[1
]}

Mekki, Hassen ^{[1
]}

机构：

[1] Univ Sousse, Natl Engn Sch Sousse, Networked Objects Control & Commun Syst Lab, Sousse 4023, Tunisia

来源：

INTERNATIONAL JOURNAL OF MODELLING IDENTIFICATION AND CONTROL | 2020年 / 34卷 / 01期

关键词：

mobile robot; neural networks; chaos; fractal; path planning; obstacles avoidance; MANIPULATORS; PERFORMANCE; MODEL;

D O I：

10.1504/IJMIC.2020.108914

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper is an attempt to solve problems involved in the path planning for the mobile robot with obstacle avoidance. Therefore, we propose three approaches for control using a fractal process system, neural networks and a combination between the chaos and the fractal process. Firstly, we present the fractal process system and its impact on the trajectory of robot. Secondly, a new variable structure model of neurons is utilised to control the robot trajectory in the presence of obstacles with different positions. Thirdly, we design as well a controller by combining the chaotic system and the fractal process inspired from the Julia set. Thus, we give several examples of trajectory control for the mobile robot for such an approach with simulation.

引用

页码：41 / 50

页数：10

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