Coverage Performance of a Chaotic Mobile Robot Using an Inverse Pheromone Model

Abstract

One major research field in autonomous mobile robots is the path planning of vehicles. Many missions require fast and complete coverage of the workspace using an unpredictable trajectory. For the first time, a strategy for a complete and fast scanning of an area using an inverse pheromone method combined with a chaotic pseudo random generator is presented in this work. A program has been written in MATLAB, in which a modified chaotic Logistic map is used in order to create an unpredictable trajectory for fast scanning of the workspace. The results are better with regards to other published works related to the use of chaotic systems for guiding mobile robots due to the fact that the robot does not cover the same area multiple times.