Coverage Performance of a Chaotic Mobile Robot Using an Inverse Pheromone Model

One major research field in autonomous mobile robots is the path planning of vehicles. Many missions require fast and complete coverage of the workspace using an unpredictable trajectory. For the first time, a strategy for a complete and fast scanning of an area using an inverse pheromone method combined with a chaotic pseudo random generator is presented in this work. A program has been written in MATLAB, in which a modified chaotic Logistic map is used in order to create an unpredictable trajectory for fast scanning of the workspace. The results are better with regards to other published works related to the use of chaotic systems for guiding mobile robots due to the fact that the robot does not cover the same area multiple times.

[1]  Elbert E. N. Macau,et al.  Trajectory Planning for Surveillance Missions of Mobile Robots , 2007 .

[2]  Andrew M. Fraser,et al.  Information and entropy in strange attractors , 1989, IEEE Trans. Inf. Theory.

[3]  Marcel Ausloos,et al.  The logistic map and the route to chaos : from the beginnings to modern applications , 2006 .

[4]  Ioannis M. Kyprianidis,et al.  An Autonomous Mobile Robot Guided by a Chaotic True Random Bits Generator , 2013 .

[5]  Eric Krotkov,et al.  The Defense Advanced Research Projects Agency (DARPA) Tactical Mobile Robotics Program , 1999, Int. J. Robotics Res..

[6]  M. Ikegami,et al.  A resistive mesh analysis method for parallel path searching , 1991, [1991] Proceedings of the 34th Midwest Symposium on Circuits and Systems.

[7]  K. S. Nagla,et al.  A new approach of path planning for mobile robots , 2014, 2014 International Conference on Advances in Computing, Communications and Informatics (ICACCI).

[8]  Leon O. Chua,et al.  Cryptography based on chaotic systems , 1997 .

[9]  Jordi Palacín,et al.  Building a mobile robot for a floor-cleaning operation in domestic environments , 2004, IEEE Transactions on Instrumentation and Measurement.

[10]  Mamoru Tanaka,et al.  Shortest path searching for robot walking using an analog resistive network , 1994, Proceedings of IEEE International Symposium on Circuits and Systems - ISCAS '94.

[11]  Oscar Castillo,et al.  Path planning for autonomous mobile robot navigation with ant colony optimization and fuzzy cost function evaluation , 2009, Appl. Soft Comput..

[12]  Lamberto Rondoni,et al.  Applications of Chaos and Nonlinear Dynamics in Science and Engineering - Vol. 2 , 2014 .

[13]  Ioannis M. Kyprianidis,et al.  A chaotic path planning generator for autonomous mobile robots , 2012, Robotics Auton. Syst..

[14]  Serge Chaumette,et al.  Chaos-enhanced mobility models for multilevel swarms of UAVs , 2018, Swarm Evol. Comput..

[15]  Henry Leung,et al.  Cooperative path planner for UAVs using ACO algorithm with Gaussian distribution functions , 2009, 2009 IEEE International Symposium on Circuits and Systems.

[16]  Scott Koziol,et al.  Robot path planning using Field Programmable Analog Arrays , 2012, 2012 IEEE International Conference on Robotics and Automation.