Patrol Mobile Robots and Chaotic Trajectories

Luiz S. Martins-Filho; Elbert E. N. Macau

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Patrol Mobile Robots and Chaotic Trajectories

机译：巡逻移动机器人和混沌轨迹

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This paper presents a study of special trajectories attainment for mobile robots based on the dynamical features of chaotic systems. This method of trajectories construction is envisaged for missions for terrain exploration, with the specific purpose of search or patrol, where fast scanning of the robot workspace is required. We propose the imparting of chaotic motion behavior to the mobile robot by means of a planner of goal positions sequence based on an area-preserving chaotic map. As a consequence, the robot trajectories seem highly opportunistic and unpredictable for external observers, and the trajectories's characteristics ensure the quick scanning of the patrolling space. The kinematic modeling and the closed-loop control of the robot are described. The results and discussion of numerical simulations close the paper.

机译：本文基于混沌系统的动力学特征，对移动机器人的特殊轨迹获得进行了研究。对于需要进行机器人工作区快速扫描的搜索或巡逻的特定目的，设想了这种用于轨迹探索的轨迹构造方法。我们建议通过目标位置序列规划器基于保留区域的混沌图将混沌运动行为赋予移动机器人。结果，机器人的轨迹对于外部观察者来说似乎是高度机会主义的并且是不可预测的，并且轨迹的特性确保了对巡逻空间的快速扫描。描述了机器人的运动学建模和闭环控制。数值模拟的结果和讨论结束了本文。

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《Mathematical Problems in Engineering》 |2007年第2007期|p.3.1-3.13|共13页
作者
Luiz S. Martins-Filho; Elbert E. N. Macau;
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正文语种 eng
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1. Patrol Mobile Robots and Chaotic Trajectories [J] . Luiz S.Martins-Filho, Elbert E. N.Macau Mathematical Problems in Engineering: Theory, Methods and Applications . 2007,第2期

机译：巡逻移动机器人和混沌轨迹
2. Design of a Chaotic Trajectory Generator Algorithm for Mobile Robots [J] . J. J. Cetina-Denis, R. M. López-Gutiérrez, R. Ramírez-Ramírez, International Journal of Information Technology . 2018,第11期

机译：移动机器人混沌轨迹生成器算法设计
3. Synchronization of the Mobile Robot to a Chaotic Trajectory [J] . Elvira Rafikova, Marat Rafikov, Guilherme Rinaldo Journal of Applied Nonlinear Dynamics . 2016,第3期

机译：移动机器人与混沌轨迹的同步
4. Time-efficient trajectory optimization in patrolling problems with non-prespecified depots and robots [C] . Walaaeldin Ghadiry, Jalal Habibi, Amir G. Aghdam, Mediterranean Conference on Control and Automation . 2016

机译：非预先确定的仓库和机器人巡逻问题中的时间高效轨迹优化
5. Trajectory control of flexible link robots, overhead cranes and mobile robots in formation. [D] . Liang, Yi. 2006

机译：编队中的柔性链接机器人，桥式起重机和移动机器人的轨迹控制。
6. Novel Bioinspired Approach Based on Chaotic Dynamics for Robot Patrolling Missions with Adversaries [O] . Daniel-Ioan Curiac, Ovidiu Banias, Constantin Volosencu, 2018

机译：基于机器人巡逻特派团的混乱动态的新型生物透露方法
7. Development of a Bio-inspired Vision System for Mobile Micro-robots:In this paper, we present a new bio-inspired vision system for mobile micro-robots. The processing method takes inspiration from vision of locusts in detecting the fast approaching objects. Research suggested that locusts use wide-field visual neuron called the lobula giant movement detector to respond to imminent collisions. We employed the locusts' vision mechanism to motion control of a mobile robot. The selected image processing method is implemented on a developed extension module using a low-cost and fast ARM processor. The vision module is placed on top of a micro-robot to control its trajectory and to avoid obstacles. The observed results from several performed experiments demonstrated that the developed extension module and the inspired vision system are feasible to employ as a vision module for obstacle avoidance and motion control. [O] . Hu, Cheng, Arvin, Farshad, Yue, Shigang 2014

机译：开发用于移动微型机器人的生物启发视觉系统：在本文中，我们提出了一种用于移动微型机器人的新型生物启发视觉系统。该处理方法从检测快速接近物体的蝗虫视觉中获取灵感。研究表明，蝗虫使用称为小叶巨型运动探测器的宽视野神经元来应对即将发生的碰撞。我们采用蝗虫的视觉机制来控制移动机器人。所选择的图像处理方法使用低成本且快速的aRm处理器在开发的扩展模块上实现。视觉模块放置在微型机器人的顶部以控制其轨迹并避开障碍物。几次进行的实验观察到的结果表明，开发的扩展模块和灵感视觉系统可用作避障和运动控制的视觉模块。

Patrol Mobile Robots and Chaotic Trajectories

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