Novel Fractional-Order Chaotic System Applied to Mobile Robot Path Planning and Chaotic Path Synchronization

摘要

In this paper, a novel fractional-order chaotic system equipped with symmetric attractors was proposed for the full-coverage path-planning problem of mobile robots, especially in application scenarios where path privacy needs to be protected. By coupling this system with a kinematic model of a mobile robot, a novel path-planning algorithm was designed to realize encrypted full-coverage path planning. A predefined time-synchronization control strategy effectively resolved inconsistencies in the path caused by initial position, time delay, and uncertain disturbances. Numerical simulation results demonstrated that the proposed path-planning method, based on the novel chaotic system, significantly improved coverage and randomness, compared to existing studies. Moreover, it maintained accuracy and stability in path planning, even in the presence of time delays and uncertain disturbances.