Patrol Mobile Robots and Chaotic Trajectories | Zendy

Luiz S. MartinsFilho | Zendy; Elbert E. N. Macau | Zendy

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Patrol Mobile Robots and Chaotic Trajectories

Author(s) -

Luiz S. MartinsFilho,

Elbert E. N. Macau

Publication year - 2007

Publication title -

mathematical problems in engineering

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.262

H-Index - 62

eISSN - 1026-7077

pISSN - 1024-123X

DOI - 10.1155/2007/61543

Subject(s) - mobile robot , chaotic , patrolling , robot , terrain , workspace , computer science , kinematics , trajectory , control theory (sociology) , motion (physics) , sequence (biology) , simulation , artificial intelligence , computer vision , control (management) , geography , physics , cartography , archaeology , classical mechanics , astronomy , biology , genetics

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.

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