Chaotic Path Planner of Autonomous Mobile Robots Based on the Standard Map for Surveillance Missions

Figure 8

An example of the fusion strategy: (a) in Grid 4, a red “” is selected as the initial point. Start up a large iterations cycle from the point. When the iterations stop, the final point, the purple “o,” falls into Grid 3; (b) begin a small iterations cycle in Grid 3 from the starting point purple “o.” The iterations cycle ends at the left purple “o” position; (c) the robot moves from the current final position to the last break-point, namely, the right purple “o” position, and starts up the next large iterations cycle. The final point falls into Grid 2, the purple “o” position; (d) similar to (b), begin a small iterations cycle in Grid 2; (e) similar to (c), start up a large iterations cycle and end in Grid 1; (f) similar to (b) and (d), begin a small iterations cycle in Grid 1; (g) similar to (c) and (e), start up a large iterations cycle and end in Grid 2; (h) similar to (b), (d), and (f), begin a small iterations cycle in Grid 2.

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