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CLC number: TP242.6

On-line Access: 2017-10-25

Received: 2016-05-12

Revision Accepted: 2016-11-10

Crosschecked: 2017-09-20

Cited: 0

Clicked: 1697

Citations:  Bibtex RefMan EndNote GB/T7714

 ORCID:

Cai-hong Li

http://orcid.org/0000-0003-0255-9249

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Frontiers of Information Technology & Electronic Engineering  2017 Vol.18 No.9 P.1305-1319

10.1631/FITEE.1601253


A chaotic coverage path planner for the mobile robot based on the Chebyshev map for special missions


Author(s):  Cai-hong Li, Yong Song, Feng-ying Wang, Zhi-qiang Wang, Yi-bin Li

Affiliation(s):  College of Computer Science and Technology, Shandong University of Technology, Zibo 255000, China; more

Corresponding email(s):   lich@sdut.edu.cn

Key Words:  Mobile robot, Chebyshev map, Chaotic, Affine transformation, Coverage path planning


Cai-hong Li, Yong Song, Feng-ying Wang, Zhi-qiang Wang, Yi-bin Li. A chaotic coverage path planner for the mobile robot based on the Chebyshev map for special missions[J]. Frontiers of Information Technology & Electronic Engineering, 2017, 18(9): 1305-1319.

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Abstract: 
We introduce a novel strategy of designing a chaotic coverage path planner for the mobile robot based on the chebyshev map for achieving special missions. The designed chaotic path planner consists of a two-dimensional chebyshev map which is constructed by two one-dimensional chebyshev maps. The performance of the time sequences which are generated by the planner is improved by arcsine transformation to enhance the chaotic characteristics and uniform distribution. Then the coverage rate and randomness for achieving the special missions of the robot are enhanced. The chaotic Chebyshev system is mapped into the feasible region of the robot workplace by affine transformation. Then a universal algorithm of coverage path planning is designed for environments with obstacles. Simulation results show that the constructed chaotic path planner can avoid detection of the obstacles and the workplace boundaries, and runs safely in the feasible areas. The designed strategy is able to satisfy the requirements of randomness, coverage, and high efficiency for special missions.

特殊任务下基于Chebychev映射的移动机器人

概要:本文提出一种在特殊任务下基于Chebychev映射的移动机器人混沌全覆盖路径规划器的设计新策略。所设计的混沌路径规划器包含一个二维的Chebychev映射,该映射由两个一维的Chebychev映射构建而成。对规划器所产生的时间序列,进行反正弦变换,可以改善系统的混沌特性和均匀分布特性,从而提高机器人在完成特殊任务时的覆盖率和随机特性。通过仿射变换,Chebychev混沌系统映射到机器人工作空间的可行区域内,然后设计有障碍物环境下全覆盖路径规划的通用方法。仿真结果显示,所设计的混沌路径规划器在可行空间能够安全运行,不需要设计避障算法。所设计策略能够满足特殊任务下随机性、遍历性和高效率的需求。

关键词:移动机器人;Chebychev映射;混沌;仿射变换;全覆盖路径规划

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

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