The obstacle avoidance method of chaotic mobile robot

Youngchul Bae; Chongbae Park; Juwan Kim; Chunsuk Kim; Yigon Kim; Hongjoe Yang; Young-Jae Ryoo

doi:10.14864/softscis.2006.0.1329.0

SCIS & ISIS 2006

Session ID : FR-D4-3

DOI https://doi.org/10.14864/softscis.2006.0.1329.0

Conference information

Host: Japan SOciety for Fuzzy Theory and intelligent informatics

Co-host: The Korea Fuzzy Logic and Intelligent Systems Society, IEEE Computational Intelligence Society, The International Fuzzy Systems Association, 21th Century COE Program "Creation of Agent-Based Social Systems Sciences"

FR-D4 Intelligent Robot

The obstacle avoidance method of chaotic mobile robot

*Youngchul Bae, Chongbae Park, Juwan Kim, Chunsuk Kim, Yigon Kim, Hongjoe Yang, Young-Jae Ryoo

Author information

Keywords: mobile robot, chaos, obstacle avoidance

CONFERENCE PROCEEDINGS FREE ACCESS

Details

Abstract

? In this paper, we propose a method to avoid obstacles that have unstable limit cycles in a chaos trajectory surface. We assume all obstacles in the chaos trajectory surface have a Van der Pol equation with an unstable limit cycle. When a chaos robot meets an obstacle in a Lorenz equation and Hyper-chaos equation trajectory, the obstacle reflects the robot. We also show computer simulation results of Lorenz equation and Hyper-chaos equation trajectories with one or more Van der Pol as an obstacles. We proposed and verified the results of the method to make the embedding chaotic mobile robot to avoid with the chaotic trajectory in any plane. It avoids the obstacle when it meets or closes to the obstacle with dangerous degree.

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