CLC number: TP242.6
On-line Access: 2024-08-27
Received: 2023-10-17
Revision Accepted: 2024-05-08
Crosschecked: 2017-09-20
Cited: 0
Clicked: 6674
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.
@article{title="A chaotic coverage path planner for the mobile robot based on the Chebyshev map for special missions",
author="Cai-hong Li, Yong Song, Feng-ying Wang, Zhi-qiang Wang, Yi-bin Li",
journal="Frontiers of Information Technology & Electronic Engineering",
volume="18",
number="9",
pages="1305-1319",
year="2017",
publisher="Zhejiang University Press & Springer",
doi="10.1631/FITEE.1601253"
}
%0 Journal Article
%T A chaotic coverage path planner for the mobile robot based on the Chebyshev map for special missions
%A Cai-hong Li
%A Yong Song
%A Feng-ying Wang
%A Zhi-qiang Wang
%A Yi-bin Li
%J Frontiers of Information Technology & Electronic Engineering
%V 18
%N 9
%P 1305-1319
%@ 2095-9184
%D 2017
%I Zhejiang University Press & Springer
%DOI 10.1631/FITEE.1601253
TY - JOUR
T1 - A chaotic coverage path planner for the mobile robot based on the Chebyshev map for special missions
A1 - Cai-hong Li
A1 - Yong Song
A1 - Feng-ying Wang
A1 - Zhi-qiang Wang
A1 - Yi-bin Li
J0 - Frontiers of Information Technology & Electronic Engineering
VL - 18
IS - 9
SP - 1305
EP - 1319
%@ 2095-9184
Y1 - 2017
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/FITEE.1601253
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.
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