A Comparative Study of Different Chaotic Systems in Path Planning for Surveillance Applications

摘要

This paper compares the performance of four different chaotic systems in path planning for surveillance applications. The four investigated systems are Lorenz, Arneodo, Liu, and Chen. While the Lorenz system was employed in a similar application before, Arneodo, Liu, and Chen systems are newly introduced in this paper. A bounded-grid chaotic path planner is proposed based on the mirror mapping technique, which keeps the robot bounded in the terrain and prevents it from going outside. The effect of using different state variables of each chaotic system to control the motion angle of the robot is discussed and shown to have a significant impact on the robot’s performance. The obtained trajectory and several performance metrics show promising results of the chaotic path planner for the four systems.