Frontiers of Information Technology & Electronic Engineering
>> 2017,
Volume 18,
Issue 9
doi:
10.1631/FITEE.1601253
Article
A chaotic coverage path planner for the mobilerobot based on the Chebyshev map for special missions
. College of Computer Science and Technology,Shandong University of Technology, Zibo 255000, China.. School of Mechanical, Electrical &Information Engineering, Shandong University, Weihai 264209, China
Available online: 2018-01-18
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Abstract
We introduce a novel strategy of designing a chaotic coveragepath planner for the mobile robot based on the Chebyshev map for achievingspecial missions. The designed chaotic path planner consists of atwo-dimensional Chebyshev map which is constructed by two one-dimensionalChebyshev maps. The performance of the time sequences which are generatedby the planner is improved by arcsine transformation to enhance thechaotic characteristics and uniform distribution. Then the coveragerate and randomness for achieving the special missions of the robotare enhanced. The chaotic Chebyshev system is mapped into the feasibleregion of the robot workplace by affine transformation. Then a universalalgorithm of coverage path planning is designed for environments withobstacles. Simulation results show that the constructed chaotic pathplanner can avoid detection of the obstacles and the workplace boundaries,and runs safely in the feasible areas. The designed strategy is ableto satisfy the requirements of randomness, coverage, and high efficiencyfor special missions.
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