Implementation of mobile robot by using double-scroll chaotic attractors

摘要

In the present work, the chaotic motion control of a mobile robot is studied, in order to cover a terrain with unpredictable way. The proposed control strategy is based on a chaotic path planning generator. As a chaotic generator, we have used three different nonlinear dynamical systems, the Chua oscillator, the Lorenz system, and a nonlinear circuit with a nonlinear resistor having an i-v characteristic based on a saturation function. The comparative results show that the third system has significantly bigger terrain coverage, among the proposed dynamical systems.