Implementation of Chaotic Behavior on a Fire Fighting Robot

Abstract

The vigilance work and the fire fighting combat are widely known to be risks missions, situations which the fire fighters have to face dangerously while they are extinguishing the fire and saving injured people, transforming itself in an inherent part of their profession. In the other hand, one robot could execute the same works, moving it autonomy or being teleoperated from a safe zone without put in risk the life of the fire fighter that is in command. Because of this, the fire combat robots are a case study where the chaotic control could be implemented to reduce the human, material and environmental prejudice. This work will put in a mobile robot a chaotic behavior, in order to do inspection on an environment with non determined trajectories. The chaos characterizes one of the most valuables and mysterious behaviors of the non linear dynamic systems, characterized by its transitive topology and its sensibility dependence to the initial conditions. The chaotic behavior on the mobile robot is achieved adding non linear equations into the robot cinematic equations, like Arnold and Lorenz equations, that are well-know equations for had a chaotic behavior.