Frontiers of Information Technology & Electronic Engineering
>> 2019,
Volume 20,
Issue 11
doi:
10.1631/FITEE.1800616
Frontiers of Information Technology & Electronic Engineering
Complete coverage path planning for an Arnold system based mobile robot to perform specific types of missions
Affiliation(s): College of Computer Science and Technology, Shandong University of Technology, Zibo 255000, China; School of Mechanical, Electrical & Information Engineering, Shandong University, Weihai 264209, China; less
Accepted: 2019-12-10
Available online: 2019-12-10
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Abstract
We propose a algorithm to plan a complete coverage trajectory for a mobile robot to accomplish specific types of missions based on the Arnold dynamical system. First, we construct a chaotic mobile robot by combining the variable of the Arnold equation and the kinematic equation of the robot. Second, we construct the s including the initial points with a relatively high coverage rate of the constructed mobile robot. Then the trajectory is contracted to the current position of the robot based on the designed strategy, to form a continuous complete coverage trajectory to execute the specific types of missions. Compared with the traditional method, the designed algorithm requires no obstacle avoidance to the boundary of the given workplace, possesses a high coverage rate, and keeps the chaotic characteristics of the produced coverage trajectory relatively unchanged, which enables the robot to accomplish special missions with features of completeness, randomness, or unpredictability.