Motion Control of a Mobile Robot Based on a Chaotic Iterative Map

摘要

In this work, the problem of designing an efficient chaotic path planning generator for exploring an area is studied. To achieve so, a Chaotic Random Bit Generator (CRBG) is first constructed. The randomness of the generator was tested and verified by the FIPS statistical package. Then, the proposed CRBG is utilized to produce the chaotic motion commands for an autonomous mobile robot moving in a 2D area, in four or eight different directions. A series of simulations have been performed in Matlab, in order to evaluate the efficiency of the proposed method and the results show that the motion in eight directions gives better results with respect to the coverage rate while also the multiple visits to the same cells have been decreased significantly.