Abstract
This paper discusses a modeling of chaotic mobile robot avoiding moving obstacles under the orbit control with the intermittency chaos map. The study is aimed for the construction of the agent-oriented robot whose ultimate model is human thinking process and actions. The techniques proposed here were based on the new ideas of utilization of the intermittency chaos map, the arrangement of the sensor, and a parallel processing in obstacle avoidance and proceeding to a goal, with focus on the following points. (1) To avoid efficiently two or more moving obstacles by forecasting their movements. (2) To widen the range where a robot can move around so that it can move more freely and smoothly. (3) To try to make it manipulate itself with as intelligent actions seen in human as possible. In conclusion we obtained following results from the implementation of computer simulation above. (1) It is possible to get out of the area surrounded by two or more moving obstacles and reach the goal eventually for itself using the fluctuation. (2) The orbit control is possible which gives priority to safety though fairly careful movement is seen because of the fluctuation. (3) It is possible to give it more intellectual movement considering the priority of avoidance according to the movement of obstacles. Therefore, it follows from what has been said that the construction of the agent-oriented robot which could avoid the obstacles in a complex environment is possible by using the intermittency chaos map.
