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Patrol Mobile Robots and Chaotic Trajectories

Author

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  • Luiz S. Martins-Filho
  • Elbert E. N. Macau

Abstract

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 chaotic map. 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.

Suggested Citation

  • Luiz S. Martins-Filho & Elbert E. N. Macau, 2007. "Patrol Mobile Robots and Chaotic Trajectories," Mathematical Problems in Engineering, Hindawi, vol. 2007, pages 1-13, June.
    • Handle: RePEc:hin:jnlmpe:061543
    DOI: 10.1155/2007/61543
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    Cited by:

    1. Nwachioma, Christian & Pérez-Cruz, J. Humberto, 2021. "Analysis of a new chaotic system, electronic realization and use in navigation of differential drive mobile robot," Chaos, Solitons & Fractals, Elsevier, vol. 144(C).
    2. Lazaros Moysis & Karthikeyan Rajagopal & Aleksandra V. Tutueva & Christos Volos & Beteley Teka & Denis N. Butusov, 2021. "Chaotic Path Planning for 3D Area Coverage Using a Pseudo-Random Bit Generator from a 1D Chaotic Map," Mathematics, MDPI, vol. 9(15), pages 1-16, August.
    3. Yang, Yu & Qin, Shijie & Liao, Shijun, 2023. "Ultra-chaos of a mobile robot: A higher disorder than normal-chaos," Chaos, Solitons & Fractals, Elsevier, vol. 167(C).

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