An Improved Chaotic Motion Path Planner for Autonomous Mobile Robots Based on a Logistic Map

摘要

This paper presents a chaotic motion path planner based on a Logistic Map (SCLCP) for an autonomous mobile robot to cover an unknown terrain randomly, namely entirely, unpredictably and evenly. The path planner has been improved by arcsine and arccosine transformation. A motion path planner based only on the Logistic Chaotic Map (LCP) can show chaotic behaviour, which possesses the chaotic characteristics of topological transitivity and unpredictability, but lacks better evenness. Therefore, the arcsine and arccosine transformations are used to enhance the randomness of LCP. The randomness of the followed path planner, LCP, the improved path planner SCLCP and the commonly used Random Path Planner (RP) are discussed and compared under different sets of initial conditions and different iteration rounds. Simulation results confirm that a better evenness index of SCLCP can be obtained with regard to previous works.