Chaotic Motion Control of a Mobile Robot Using a Memory Technique

Abstract

This work addresses the problem of chaotic path planning, using a memory technique to improve performance. In this application, the dynamics of a chaotic system are utilized to generate a series of navigation commands using a simple rule. These commands are then used by an autonomous robot to explore an area. This navigation strategy can bring overall area coverage, but with numerous revisits to the same cells. Here, a memory technique is applied to limit the chaotic motion to cells with the least number of visits, leading to overall improvement in performance. Numerical simulations are performed to evaluate the path planning strategy.