Patrol mobile robots and chaotic trajectories
type: Item
instance of: scholarly article
title: Patrol mobile robots and chaotic trajectories
zbMATH Open document ID: 1360.70012
DOI: 10.1155/2007/61543
author: Luiz S. Martins-Filho
author: Elbert E. N. Macau
published in: Mathematical Problems in Engineering
publication date: 2008-11-24T00:00:00Z
review text: Summary: This paper presents a study of special trajectories attainment for mobile robots based on the dynamical features of chaotic systems. This method of trajectories construction is envisaged for missions for terrain exploration, with the specific purpose of search or patrol, where fast scanning of the robot workspace is required. We propose the imparting of chaotic motion behavior to the mobile robot by means of a planner of goal positions sequence based on an area-preserving chaotic map. As a consequence, the robot trajectories seem highly opportunistic and unpredictable for external observers, and the trajectories's characteristics ensure the quick scanning of the patrolling space. The kinematic modeling and the closed-loop control of the robot are described. The results and discussion of numerical simulations close the paper.
Mathematics Subject Classification ID: 70E60
Mathematics Subject Classification ID: 37D45
Mathematics Subject Classification ID: 70K55
zbMATH DE Number: 5371796
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2007/61543
OpenAlex ID: W2053637206
cites work: Q4419475
cites work: Regular and stochastic motion
cites work: Symplectic maps, variational principles, and transport
cites work: Exponential stabilization of mobile robots with nonholonomic constraints
cites work: Q4003793
Wikidata QID: Q126246357
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description: scientific article; zbMATH DE number 5371796