Obstacle Avoidance Methods in the Chaotic Mobile Robot with Integrated some Chaos Equation

In this paper, 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 an Arnold equation or Chua`s equation trajectory, the obstacle reflects the robot. We also show computer simulation results of Arnold equation and Chua`s equation and random walk chaos trajectories with one or more Van der Pol obstacles and compare the coverage rates of each trajectory. We show that the Chua`s equation is slightly more efficient in coverage rates when two robots are used, and the optimal number of robots in either the Arnold equation or the Chua`s equation is also examined.