Salah Nasr, Hassen Mekki, and Kais Bouallegue
Fast coverage path planning, mobile robot, mirror mapping, surveil-lance missions, flatness, chaotic systems
This paper focuses on the use of chaotic systems in the problem of generating a desired trajectory. The considered application is that of the surveillance of a terrain by a mobile robot. A new method of trajectory generating is proposed. This method is based on the use of a chaotic system in the dynamics of the robot. A new chaotic system is also suggested, namely, the multi-scroll chaotic system using the Chua system. The simulation results prove that the considered approach is an interesting method to reduce the number of orbits in the generated trajectory. Furthermore, it permits guaranteeing a fast scanning of the overall space to be surveilled, while ensuring a chaotic aspect of the trajectory. Hence, the robot motion cannot be predicted by intruders. To ensure the tracking of the generated trajectory, a flatness control law is put forward. This control technique has proved its effectiveness in solving this major challenge of researchers. A comparative study between the the use of the classical double-scroll chaotic system and the multi-scroll chaotic system in different workspaces with obstacles is established.
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