Cooperation of Autonomous Mobile Robots for Surveillance Missions Based on Hyperchaos Synchronization

摘要

In this paper, a novel collaboration scheme of autonomous mobile robots,which is based on chaos synchronization with application to complete and fastcoverage of the whole workspace, is presented. Each one of the mobile robots iscontrolled by the simplest four-dimensional hyperchaotic Lorenz-type system,producing an unpredictable trajectory. When multiple robots are employed forfaster and more complete coverage, effective cooperation can be achieved bysynchronizing these chaotic motions. For this reason, the nonlinear open loopcontroller to target the synchronization state of chaotic oscillators isadopted. Computer simulation illustrates that the proposed synchronized chaoticrobots improve the efficiency of the non-synchronized robots in finishing fasterthe same coverage work area.