A FAST COVERAGE PATH PLANNING OF A MOBILE ROBOT USING FLATNESS CONTROLLER BASED ON CHAOTIC SYSTEMS

Salah NASR, Hassen MEKKI, and Kais BOUALLEGUE

Keywords

Fast coverage path planning, Mobile robot, Mirror mapping, Flatness controller, Chaotic systems

Abstract

This paper focuses on the use of chaotic systems in the problem of generating a desired trajectory. The considered application is that of the surveillance of a terrain by a mobile robot. A new method of trajectory generating is proposed. This method is based on the use of a chaotic system in the dynamics of the robot. A new chaotic system is also suggested, namely the multi-scroll chaotic system using the Chua system. The simulation results prove that the considered approach is an interesting method to reduce the number of orbits in the generated trajectory . Furthermore, it permits guaranteeing a fast scanning of the overall space to be surveilled, while ensuring a chaotic aspect of the trajectory. Hence, the robot motion can not be predicted by intruders. In order to ensure the tracking of the generated trajectory, a flatness control law is put forward. This control technique has proved its effectiveness in solving this major challenge of researchers. A comparative study between the proposed method and other method based on the classical double-scroll chaotic system in different workspaces with obstacles, is established.

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