A 2D Discrete Chaotic Memristive Map and Its Application in Robot’s Path Planning

摘要

In this work, for the first time, the use of a discrete memristive chaotic system for controlling the motion of a mobile robot is presented. The main goal is to cover as soon as possible a given area with the least number of motion commands. Firstly, the analysis of the proposed system is presented in details. After the selection of the set of parameters and initial conditions, in order for the system to be chaotic, it is applied in a mobile robot’s path planning problem. The simulation results proved that there is a lower limit in the system’s integration step h where its performance is efficient. Also, the same technique was applied in the case of a vacuum cleaning robot. As it is observed from the simulation results the robot managed to cover almost all of the given area in a satisfactory number of motion commands avoiding the collision with the placed obstacles.