Combined Chaotic Attractor Mobile Robots

Abstract

The application of chaos in engineering field has been attracted much attention due to many potential applications include fan heaters, air-conditions, and dish washing machines. Even though the applied chaos in robot guidance is also not new, the problem of navigation of autonomous mobile robot in a totally unknown environment can be accomplished by using chaotic function. For implementation, most of researchers use CPUs with high performance to generate the chaotic trajectory. Unlike the others, in this paper, we use a chaotic circuit, which is low cost and easy to construct for trajectory generators. The Chua's circuit and a complex butterfly attractor are combined together providing pattern diversity and area coverage. A lab-scale two-wheel mobile robot is implemented and tested in our laboratory. The experimental results confirm that the proposed scheme of combined chaotic attractors is effective for path guiding for chaotic mobile robots