Using chaotic maps for 3D boundary surveillance by quadrotor robot

Chaotic maps have been shown to be suitable for applications that require unpredictable behavior. In this paper, the chaotic maps are used for motion planning and control of a quadrotor for boundary surveillance purposes. The chaotic motion would prevent anticipation of the future movement of the quadrotor, especially in hostile situations where an intruding opponent exists. The chaotic trajectories are constructed based on a closed three-dimensional curve representing the boundary. It is demonstrated that the proposed algorithm for 3D planning generates chaotic paths by investigating the Lyapunov exponents. The desired unpredicted trajectory is used as input to an under-actuated control system. The performance of the algorithm is shown by simulation of the control system applied to the dynamic model. (C) 2018 Elsevier B.V. All rights reserved.