The Behaviour of a Mobile Robot Is Chaotic

摘要

We present a method to describe the behaviour of a mobile robot quantitatively, using methods from dynamical systems theory, time series analysis and deterministic chaos theory. Experimental results obtained with a Pioneer II mobile robot demonstrate the use of the method, and show that robot behaviour exhibits deterministic chaos, and is substantially influenced by the control program executed by the robot, while changes to the environment have far less influence.