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Chaotic path planning for grid coverage using a modified logistic-may map

Petavratzis Eleftherios, Moysis Lazaros, Volos Christos, Nistazakis Hector, Muñoz-Pacheco Jesus Manuel, Stouboulos Ioannis

Journal of Automation Mobile Robotics and Intelligent Systems

2020

Vol. 14, No. 2

3--9

A simple and efficient method for creating a motion trajectory is presented with an aim to achieve sufficient coverage of a given terrain. A chaotic map has been used in order that the motion trajectory should be unpredictable. The chaotic path generator which has been created, is used for implementing a robot’s movement in four and eight directions. The path generator is tested in various scenarios and the results are discussed. After thorough examination, the proposed method shows that the motion in eight directions gives better and very satisfactory results.