International Journal of Fuzzy Logic and Intelligent Systems

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Obstacle Avoidance Methods in the Chaotic Mobile Robot with Integrated some Chaos Equation

  • Bae, Young-Chul (Division Electronic Communication and Electrical Engineering of Yosu Nat′l University) ;
  • Kim, Ju-Wan (Division Electronic Communication and Electrical Engineering of Yosu Nat′l University) ;
  • Kim, Yi-Gon (Division Electronic Communication and Electrical Engineering of Yosu Nat′l University)
  • Published : 2003.12.01
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Abstract

In this paper, we propose a method to avoid obstacles that have unstable limit cycles in a chaos trajectory surface. We assume all obstacles in the chaos trajectory surface have a Van der Pol equation with an unstable limit cycle. When a chaos robot meets an obstacle in an Arnold equation or Chua's equation trajectory, the obstacle reflects the robot. We also show computer simulation results of Arnold equation and Chua's equation and random walk chaos trajectories with one or more Van der Pol obstacles and compare the coverage rates of each trajectory. We show that the Chua's equation is slightly more efficient in coverage rates when two robots are used, and the optimal number of robots in either the Arnold equation or the Chua's equation is also examined.

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