Comparison of integer-order chaotic attractors as randomness source in collision-free robotic exploration methods

Abstract

This article presents a comparison on the use of integer-order chaotic waveforms in collision-free robotic navigation methods. Each state-variable associated with the Lorenz’s, Rossler’s, Chen’s, Liu’s, Chua’s and Saturated Nonlinear Function Series system is used to compute the coverage, which represents the effectiveness over the amount of the total area covered by the mobile robot. As a result, it can be deduced which dynamic system and state-variable are most suitable to be used as randomness source within the robotic exploration methods. All positions of the mobile robot are generated by the state-variable of the chaotic dynamic system and the inverse Jacobian of the mobile robot is used as control law. The position error at each point of the chaotic path is iteratively reduced and the angular velocities for each motion are computed. Numerical simulations were performed in the Matlab environment and illustrate the usefulness of the best collisionless chaotic path generator with the largest coverage, which can be applied to various areas, such as household, agriculture, education, manufacturing, patrolling, medical care, military and so on.