Patrol Mobile Robots and Chaotic Trajectories

Research Article Patrol Mobile Robots and Chaotic Trajectories

This paper presents a study of special trajectories attainment for mobile robots based on the dynamical features of chaotic systems. This method of trajectories construction is envisaged for missions for terrain exploration, with the specific purpose of search or patrol, where fast scanning of the robot workspace is required. We propose the imparting of chaotic motion behavior to the mobile rob...

Extremal Trajectories for Bounded Velocity Mobile Robots

Previous work [3, 6, 9, 8, 7, 1] has presented the time optimal trajectories for three classes of non-holonomic mobile robots: steered cars that can only go forwards, steered cars that go forwards or backwards, and differential drives. Each of the vehicles is modelled as a rigid body in the plane with velocity and angular velocity controls. The systems are differentiated only by the bounds on t...

Optimal Trajectories for Nonholonomic Mobile Robots

Adaptive patrol for a group of robots

Abstrmt-Patrolling is a basic task for a group of robots. AU regions of an area are checked at regular interval and robots may look for intruders or garbage to collect. This work proposes a reactive and adaptive approach of this problem. In a virtual environment shared by robots, task data are propagated from place to place with modifications in order to represent locally distant-tasks value. A...

Terrain-adaptive Generation of Optimal Continuous Trajectories for Mobile Robots

The problem of generating continuous trajectories for motion over general 3D terrain is important. The more naïve and common approach of compensating, in the execution phase, via feedback control, for an incorrect flat terrain assumption, is not always viable. The flat terrain assumption is also almost never necessary since the terrain shape must already be known for autonomous vehicles to oper...