A chaotic path planning generator for autonomous mobile robots

被引：143

作者：

Volos, Ch. K. ^{[1
]}

Kyprianidis, I. M. ^{[2
]}

Stouboulos, I. N. ^{[2
]}

机构：

[1] Hellen Army Acad, Dept Math & Engn Studies, GR-16673 Vari, Greece

[2] Aristotle Univ Thessaloniki, Dept Phys, GR-54124 Thessaloniki, Greece

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2012年 / 60卷 / 04期

关键词：

Mobile robot; Path planning; Nonlinear circuit; Chaos; True random bit generator; WALKING MODEL;

D O I：

10.1016/j.robot.2012.01.001

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 work presents a chaotic path planning generator which is used in autonomous mobile robots, in order to cover a terrain. The proposed generator is based on a nonlinear circuit, which shows chaotic behavior. The bit sequence, produced by the chaotic generator, is converted to a sequence of planned positions, which satisfies the requirements for unpredictability and fast scanning of the entire terrain. The nonlinear circuit and the trajectory-planner are described thoroughly. Simulation tests confirm that with the proposed path planning generator better results can be obtained with regard to previous works. (C) 2012 Elsevier B.V. All rights reserved.

引用

页码：651 / 656

页数：6