CLC number: TP242.6
On-line Access: 2024-08-27
Received: 2023-10-17
Revision Accepted: 2024-05-08
Crosschecked: 2023-02-27
Cited: 0
Clicked: 2075
Caihong LI, Cong LIU, Yong SONG, Zhenying LIANG. Parameter value selection strategy for complete coverage path planning based on the Lü system to perform specific types of missions[J]. Frontiers of Information Technology & Electronic Engineering, 2023, 24(2): 231-244.
@article{title="Parameter value selection strategy for complete coverage path planning based on the Lü system to perform specific types of missions",
author="Caihong LI, Cong LIU, Yong SONG, Zhenying LIANG",
journal="Frontiers of Information Technology & Electronic Engineering",
volume="24",
number="2",
pages="231-244",
year="2023",
publisher="Zhejiang University Press & Springer",
doi="10.1631/FITEE.2200211"
}
%0 Journal Article
%T Parameter value selection strategy for complete coverage path planning based on the Lü system to perform specific types of missions
%A Caihong LI
%A Cong LIU
%A Yong SONG
%A Zhenying LIANG
%J Frontiers of Information Technology & Electronic Engineering
%V 24
%N 2
%P 231-244
%@ 2095-9184
%D 2023
%I Zhejiang University Press & Springer
%DOI 10.1631/FITEE.2200211
TY - JOUR
T1 - Parameter value selection strategy for complete coverage path planning based on the Lü system to perform specific types of missions
A1 - Caihong LI
A1 - Cong LIU
A1 - Yong SONG
A1 - Zhenying LIANG
J0 - Frontiers of Information Technology & Electronic Engineering
VL - 24
IS - 2
SP - 231
EP - 244
%@ 2095-9184
Y1 - 2023
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/FITEE.2200211
Abstract: We propose a novel parameter value selection strategy for the lü; system to construct a chaotic robot to accomplish the complete coverage path planning (CCPP) task. The algorithm can meet the requirements of high randomness and coverage rate to perform specific types of missions. First, we roughly determine the value range of the parameter of the lü; system to meet the requirement of being a dissipative system. Second, we calculate the lyapunov exponents to narrow the value range further. Next, we draw the phase planes of the system to approximately judge the topological distribution characteristics of its trajectories. Furthermore, we calculate the pearson correlation coefficient of the variable for those good ones to judge its random characteristics. Finally, we construct a chaotic robot using variables with the determined parameter values and simulate and test the coverage rate to study the relationship between the coverage rate and the random characteristics of the variables. The above selection strategy gradually narrows the value range of the system parameter according to the randomness requirement of the coverage trajectory. Using the proposed strategy, proper variables can be chosen with a larger lyapunov exponent to construct a chaotic robot with a higher coverage rate. Another chaotic system, the Lorenz system, is used to verify the feasibility and effectiveness of the designed strategy. The proposed strategy for enhancing the coverage rate of the mobile robot can improve the efficiency of accomplishing CCPP tasks under specific types of missions.
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