Experimental Coverage Performance of a Chaotic Autonomous Mobile Robot

Abstract

This work, presents the design and the implementation of a mobile robot that can cover given workspaces. The motion commands have been produced by a chaotic system which gives high "randomness" to its behavior. For the implementation of the robot a microcontroller has been used (Arduino Uno). Moreover, the obstacle avoidance has been achieved by using an ultrasonic sensor, which enables the tracking and avoidance of placed obstacles. As a result, the motion trajectory becomes smoother. The robot’s behavior has been studied in scenarios with different starting positions showing promising results.