Motion Control of a Mobile Robot Based on Double-Scroll Chaotic Circuits

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Provided by: WSEAS
Topic: Hardware
Format: PDF
In this paper, the motion control of a mobile robot which is based on a specific type of chaotic systems. These systems produce the well-known from the nonlinear theory double-scroll chaotic attractors. So, the proposed motion control strategy of the mobile robot is based on a chaotic path planning generator in order to cover a terrain fast and with unpredictable way. For choosing the system with the best appearance in regard of the terrain coverage, three different nonlinear dynamical systems with double-scroll chaotic behavior, the Chua oscillator, the Lorenz system and a circuit with a nonlinear resistor having an I-V characteristic based on a saturation function were used.
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