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.
Highlights
IntroductionStudies on food searching behavior of animal groups (especially ants) helps in the solution of many problems, primarily optimization problems
Some researchers have used chaotic systems alongside the behavioral equations of differential drive mobile robots to obtain a mathematical model that causes erratic motion [2]; in other research, the use of a standard map to generate a series of chaotic way-points to be followed by robots is presented in [3]
It should be mentioned that these experimental results are preliminary; it is necessary to improve the algorithm of evasion of edges so that the angle of reflection is more precise and use other chaotic systems to compare their performance
Summary
Studies on food searching behavior of animal groups (especially ants) helps in the solution of many problems, primarily optimization problems. Biologists have discovered that ant activity is mostly of a chaotic nature [1]. Research has been carried out on chaotic trajectory design for mobile robots in order to imitate this behavior found in nature. Some researchers have used chaotic systems alongside the behavioral equations of differential drive mobile robots to obtain a mathematical model that causes erratic motion [2]; in other research, the use of a standard map (a well-known discrete two-dimensional chaotic system) to generate a series of chaotic way-points to be followed by robots is presented in [3].
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