Patrol mobile robots and chaotic trajectories

被引：44
作者：
Martins-Filho, Luiz S.
Macau, Elbert E. N.
机构：
[1] Univ Fed Ouro Preto, Dept Computacao, BR-35400000 Ouro Preto, MG, Brazil
[2] Inst Pesquisas Espaciais, Lab Assoc Computacao & Matemat Aplicada, BR-12227010 Sao Jose Dos Campos, SP, Brazil
来源：
MATHEMATICAL PROBLEMS IN ENGINEERING | 2007年 / 2007卷
关键词：
D O I：
10.1155/2007/61543
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
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 chaoticmap. 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. Copyright (c) 2007 L. S. Martins-Filho and E. E. N. Macau.
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页数：13
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