Obstacle avoidance method in the chaotic robot

Abstract

We propose a method to avoid obstacles that have unstable limit cycles in a chaos trajectory surface. We assume all obstacles in the chaos trajectory surface have a Van der Pol equation with an unstable limit cycle. When a chaos robot meets an obstacle in a Lorenz equation, Hamilton and hyper-chaos equation trajectory, the obstacle reflects the robot. We also show computer simulation results of Lorenz equation, Hamilton and Hyper-chaos equation trajectories with one or more Van der Pol as an obstacles. We proposed and verified the results of the method to make the embedding chaotic mobile robot to avoid with the chaotic trajectory in any plane. It avoids the obstacle when it meets or closes to the obstacle with dangerous degree.