期刊
ROBOTICS AND AUTONOMOUS SYSTEMS
卷 124, 期 -, 页码 -出版社
ELSEVIER
DOI: 10.1016/j.robot.2019.103377
关键词
Autonomous mobile robot; Path planning; Terrain coverage; Chaos; Logistic map
A simple, short and efficient chaotic path planning algorithm is proposed for autonomous mobile robots, with the aim of covering a given terrain using chaotic, unpredictable motion. The proposed technique utilizes the logistic map with a chaotic tactic that utilizes a modulo function to produce a sequence of directions for a robot that can move in eight different directions on a grid. Extensive simulations are performed, and the results show a fast and efficient scanning of the given area. In addition, the proposed algorithm is further enhanced with a pheromone inspired memory technique, with good improvements in efficiency. (C) 2019 Elsevier B.V. All rights reserved.
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