KINEMATIC CONTROL OF MOBILE ROBOTS TO PRODUCE CHAOTIC TRAJECTORIES

摘要

This article introduces a path-planning strategy concerning mobile robots' missions for terrain exploration, with specific purposes of search or surveillance. The proposed method to achieve fast and complete scanning of the entire robot workspace consists of imparting chaotic motion behavior to the mobile robot using a path-planner based on the Standard map. This strategy can ensure high unpredictability of robot trajectories, resembling a non-planned motion for external observers. The kinematic modeling of a mobile robot, and two closed-loop locomotion control schemes (continuous and discontinuous) are described, as well the proposed strategy of Standard map-based path-planning. Results and analysis of numerical simulations, testing the robot kinematic control and the path-planning procedure, close the article.