Patrol Mobile Robots and Chaotic Trajectories

Martins-Filho, Luiz S.; Macau, Elbert E. N.

doi:https://doi.org/10.1155/2007/61543

Mathematical Problems in Engineering

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Dynamics and Control in Sciences and Engineering

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Research Article | Open Access

Volume 2007 | Article ID 061543 | https://doi.org/10.1155/2007/61543

Patrol Mobile Robots and Chaotic Trajectories

Luiz S. Martins-Filho¹and Elbert E. N. Macau²

Academic Editor: José Manoel Balthazar

Received16 Oct 2006

Revised19 Jan 2007

Accepted16 Apr 2007

Published26 Jun 2007

Abstract

This paper presents a study of special trajectories attainment for mobile robots based on the dynamical features of chaotic systems. This method of trajectories construction is envisaged for missions for terrain exploration, with the specific purpose of search or patrol, where fast scanning of the robot workspace is required. We propose the imparting of chaotic motion behavior to the mobile robot by means of a planner of goal positions sequence based on an area-preserving chaotic map. As a consequence, the robot trajectories seem highly opportunistic and unpredictable for external observers, and the trajectories's characteristics ensure the quick scanning of the patrolling space. The kinematic modeling and the closed-loop control of the robot are described. The results and discussion of numerical simulations close the paper.

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Copyright

Copyright © 2007 Luiz S. Martins-Filho and Elbert E. N. Macau. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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