A Chaotic Path Planning Method for 3D Area Coverage Using Modified Logistic Map and a Modulo Tactic

摘要

This paper addresses the problem of chaotic path planning for the case of an autonomous mobile robot or an autonomous unmanned arial vehicle (UAV) moving in a 3D environment. The aim is to derive a method to generate a series of chaotic motion commands for a UAV that is tasked to explore a given 3D grid. The objective is to generate an unpredictable motion, that will also give good coverage results relative to the number of motions generated. This work adapts a combination of a modified logistic map and a modulo operator to generate the motion directions. An inverse pheromone memory approach is also considered to improve performance. Simulations are then performed to evaluate the performance of the method.