Chaotic Mobile Robot Workspace Coverage Enhancement

• Autorzy: Fahmy A. A.
• Języki publikacji: EN

Abstrakty

EN

The chaotic mobile robot implies a mobile robot with a controller that ensures chaotic motions. Chaotic motion is characterized by the topological transitivity and the sensitive dependence on initial conditions. Due to the topological transitivity, the chaotic mobile robot is guaranteed to scan the whole connected workspace. The Chua's circuit, which is low cost and easy to construct for trajectory generators, exhibits a rich variety of bifurcation and chaotic behaviors. This particular circuit is analyzed. It is shown how to generate a sequence of chaotic behaviors by varying the value of a linear resistor of the Chua's circuit. According to the simulation, with best adjusting parameters, and mapping the appropriate chaotic variables to robot's kinematic variables, the chaotic behavior is enhanced in the sense of wide area coverage and evenness index.

Słowa kluczowe

EN

chaos; mobile robot; chaotic motion; chaotic mobile robot; Chua's circuit

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2012
• Tom: Vol. 6, No. 1
• Strony: 33--38
• Opis fizyczny: Bibliogr. 14 poz., rys.

Twórcy

autor

Fahmy A. A.

• Assistant Professor, Department of Computer Engineering, College of Computers and Information Technology, Taif University, Taif, Saudia Arabia,

Bibliografia

• [1] Y. Nakamura and A. Sekiguchi, “Chaotic mobile robot,” IEEE Transaction on Robotics and Automation, vol. 17, no. 6, 2001, pp. 898–904.
• [2] A. Sekiguchi and Y. Nakamura, “The Chaotic mobile robot”, in: Proc. IEEE/RSJ. Int. Conf. Intelligent Robots and Systems, vol. 1, 1999, pp. 172-178.
• [3] A. Jansri, K. Klomkarn, and P. Sooraksa, “Further investigation on trajectory of chaotic guiding signals for robotics system”. In: Proc. Int. Symp. Communication and Information Technology, 2004, pp. 1166–1170.
• [4] A. Jansri, K. Klomkarn, and P. Sooraksa, “On comparison of attractors for chaotic mobile robots”. In: Proc. 30th Annu. Conf. IEEE Industrial Electronics Society, IECON, vol. 3, 2004, pp. 2536–2541.
• [5] C. Chanvech, K. Klomkarn, and P. Sooraksa, “Combined chaotic attractors mobile robots”. In: Proc. SICE-ICASE Int. Joint Conf., 2006, pp. 3079–3082.
• [6] L. S. Martins-Filho, R. F. Machado, R. Rocha, and V. S. Vale, “Commanding mobile robots with chaos”. In: J. C. Adamowski, E. H. Tamai, E. Villani, and P. E. Miyagi (Eds.) ABCM Symposium Series in Mechatronics, vol. 1, ABCM, Rio de Janeiro, Brazil, 2004, pp. 40–46.
• [7] S. Martins et al.,” Kinematic control of mobile robots to produce chaotic trajectories”. In: ABCM Symposium Series in Mechatronics, vol. 2, 2006, pp. 258–264.
• [8] S. Martins et al., „Patrol Mobile Robots and Chaotic Trajectories”. In: Mathematical problems in engineering, vol. 2007, Article ID61543, 13 pages, 2007.
• [9] J. Palacin, J. A. Salse, I. Valganon, and X. Clua, “Building a mobile robot for a floor-cleaning operation in domestic environments”, IEEE Transactions on Instrumentation and Measurement, vol. 53, 2004, no. 5, pp. 1418–1424.
• [10] M. Islam and K. Murase, “Chaotic dynamics of a behavior-based miniature mobile robot: effects of environment and control structure”, Neural Networks, vol. 18, no. 2, 2005, pp. 123–144.
• [11] U. Nehmzow, “Quantitative analysis of robot-environment interaction-towards scientific mobile robotics”, Robotics and Autonomous Systems, vol. 44, no. 1, 2003, pp. 55–68.
• [12] P. Sooraksa and K. Klomkarn, „No-CPU chaotic robots from classroom to commerce”. In: IEEE circuits and systems magazine, 10.1109/MCAS, 2010, pp. 46–53.
• [13] V. Araujo, „Circuit analysis and matlab simulation of chua oscillator”, ARISER, vol. 5, No. 1, pp. 49– 57, 2009.
• [14] J. Nicolas et al., „A comparative analysis of evenness index sensitivity”, Int. Review Hydrobiology, vol. 88, no. 1, 2003, pp. 3–15.