Design of a Chaotic Trajectory Generator Algorithm for Mobile Robots

Author:

Cetina-Denis Juan JoséORCID,Lopéz-Gutiérrez Rosa MarthaORCID,Cruz-Hernández CésarORCID,Arellano-Delgado AdrianORCID

Abstract

This paper addresses the problem of designing an algorithm capable of generating chaotic trajectories for mobile robots. In particular, the chaotic behavior is induced in the linear and angular velocities of a differential drive mobile robot by infusing them with the states of the Hénon chaotic map. A possible application of patrolling a work area by using trajectories with chaotic motion in differential drive mobile robots is presented. In this work, obtained numerical and experimental results are reported and analyzed. In addition, two quantitative numerical tests are applied in order to measure the chaoticity of the generated trajectories. With the intention of expanding this work further, we explore the case where multiple mobile robots move simultaneously in the same work area with different trajectories, and the final results are exhaustively analyzed. In addition, experimental results are presented.

Publisher

MDPI AG

Subject

Fluid Flow and Transfer Processes,Computer Science Applications,Process Chemistry and Technology,General Engineering,Instrumentation,General Materials Science

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