カオティック移動ロボット

抄録

Chaos represents one of mysterious rich behaviors of nonlinear dynamical systems. A lot of research efforts have been done for mathematical theory behind chaos. In this paper, we develop a method to provide a mobile robot with the chaotic nature. The chaotic mobile robot implies a mobile robot with a controller that ensures chaotic motion. According to the phase tansitivity, one of the two basic features with the sharp dependence on initial condition that characterize chaos, the chaotic mobile robot is guaranteed to scan the whole connected work space. For scanning motion, the chaotic robot does not require the map of work space. It only requires to measure the normal of boundary when it comes close. A mobile robot with such characteristics may find its applications as a patrol robot or a cleaning robot in a closed floor or building. The sharp dependence on initial condition also yields a favourable nature as a patrol robot since the scanning trajectory becomes highly unpredictable. We design the controller such that the total dynamics of mobile robot is represented by the Arnold equation, which is known to show the behavior of non-compressive perfect fluid. Experimental results illustrate the usefulness of the proposed controller.