Collision-free arbitrary-order chaotic path generator for differential robots

Abstract

This article discusses a collision-free path generator based on arbitrary-order chaotic waveforms for differential robots. The novelty is that the robot can explore a predefined workspace with any irregular structure, avoiding obstacles and boundaries with any random shape. All positions of the differential robot are generated by the arbitrary-order chaotic dynamic system. The inverse Jacobian of the differential robot is used as control law. Therefore, the position error at each point of the chaotic path not only is iteratively reduced, but the angular velocities for each motion are also computed. Numerical simulations were performed within Matlab environment to evaluate the arbitrary-order chaotic path generator in a scenario and different starting positions. Numerical tests illustrate the usefulness of the proposed collision-free arbitrary-order chaotic path generator and it can be applied to various areas, such as household, agriculture, education, manufacturing, patrolling, medical care, military and so on.