Chaotic Trajectory Design for Monitoring an Arbitrary Number of Specified Locations Using Points of Interest

Pseudocode 2

Implementation of the jump for 𝑧-coordinate in case of falling into one of the equilibrium points.

If (((local_coordinates of the robot correspond to 𝑃₁, 𝑃₂ or 𝑃₃) and (present trajectory segment is

Lorenz-type)) or

  ((local_coordinates of the robot correspond to 𝐸₁, 𝐸₂ or 𝐸₃) and (present trajectory segment is

  Chen-type)))

then 𝑧=𝑧+0.001;