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Chaotic Trajectory Design for Monitoring an Arbitrary Number of Specified Locations Using Points of Interest

机译：利用兴趣点监视指定位置任意数量的混沌轨迹设计

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摘要

The design of unpredictable trajectories for autonomous patrol robots when accomplishing surveillance missions represents, in many situations, a key desideratum. Solutions to this problem had often been associated with chaotic dynamics. While for area surveillance missions, relevant techniques to produce chaotic motion had been reported, in the case of monitoring a number of precise locations no viable solutions had been proposed. The present paper covers this research gap by offering a complex methodology that involves a mixture of two types of chaotic trajectory segments, based on Lorenz and Chen systems, in obtaining unpredictable trajectories when an arbitrary number of specified locations have to be monitored. The developed path-planning strategy produces trajectories that can cope efficiently with dynamical degradation of chaos or with obstacle avoidance issues.
机译：在许多情况下，完成巡逻任务时，自动巡逻机器人的不可预测的轨迹设计是一个关键的需求。解决该问题的方法通常与混沌动力学相关。虽然对于区域监视任务，已经报道了产生混沌运动的相关技术，但是在监视许多精确位置的情况下，没有提出可行的解决方案。本文通过提供一种复杂的方法来弥补这一研究空白，该方法涉及基于Lorenz和Chen系统的两种类型的混沌轨迹段的混合，从而在必须监视任意数量的指定位置时获得不可预测的轨迹。制定的路径规划策略所产生的轨迹可以有效地应对混乱的动态退化或避障问题。

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  • 来源
    《Mathematical Problems in Engineering》 |2012年第12期|940276.1-940276.18|共18页
  • 作者

    Daniel-Ioan Curiac; Constantin Volosencu;

  • 作者单位

    Automation and Applied Informatics Department, 'Politehnica' University of Timisoara, Building V. Parvan No. 2, 300223 Timisoara, Romania;

    Automation and Applied Informatics Department, 'Politehnica' University of Timisoara, Building V. Parvan No. 2, 300223 Timisoara, Romania;

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