Obstacle avoidance methods in the chaotic UAV

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 UAVs meet an obstacle in an Arnold equation or Chua's equation trajectory, the obstacle reflects the UAV. We also show computer simulation results of Arnold equation and Chua's equation UAV chaos trajectories with one or more Van der Pol obstacles. We show that the Chua's equation is slightly more efficient in coverage rates when two UAVs are used, and the optimal number of UAVs in either the Arnold equation or the Chua's equation is also examined.