WSEAS Transactions on Systems
Print ISSN: 1109-2777, E-ISSN: 2224-2678
Volume 11, 2012
Motion Control of a Mobile Robot Based on Double-Scroll Chaotic Circuits
Authors: , , ,
Abstract: In this paper, the motion control of a mobile robot, which is based on a specific type of chaotic systems, is studied. 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. The comparative study of the proposed double-scroll systems shows that the third system has significantly greater terrain coverage, among the three used dynamical systems.
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Keywords: Mobile robot, motion control, chaos, Chua circuit, Lorenz system, double-scroll chaotic attractors