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2 Fahmy A. A.

2 2012

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Implementation of the chaotic mobile robot for the complex missions

Fahmy A. A.

Journal of Automation Mobile Robotics and Intelligent Systems

2012

Vol. 6, No. 2

8-12

Mobile robotics, after decades of continuous development, keeps up as an intensive research issue because of its ever- increasing application to different domains and its economical and technological relevance. Interesting applications can be seen in robots performing floor-cleaning tasks, executing industrial transportation, exploring volcanoes, scanning areas to find explosive devices, and so on. a chaotic signal for an autonomous mobile robot is to increase and to take advantage of coverage areas resulting from its travelling paths. The chaotic behavior of the mobile robot is achieved by adding nonlinear equations into the robot kinematic equations, like Arnold, Lorenz, and Chua’s equations, that are well known equations for had a chaotic behavior. The performance of the three guiding signals for robotics system is evaluated in the sense of the wide area coverage, the evenness index, and the total trajectory distance.

Chaotic Mobile Robot Workspace Coverage Enhancement

Fahmy A. A.

Journal of Automation Mobile Robotics and Intelligent Systems

2012

Vol. 6, No. 1

33-38

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.