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CLC number: TP242.6

On-line Access: 2017-10-25

Received: 2016-05-12

Revision Accepted: 2016-11-10

Crosschecked: 2017-09-20

Cited: 0

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Citations:  Bibtex RefMan EndNote GB/T7714


Cai-hong Li


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Frontiers of Information Technology & Electronic Engineering  2017 Vol.18 No.9 P.1305-1319


A chaotic coverage path planner for the mobile robot based on the Chebyshev map for special missions

Author(s):  Cai-hong Li, Yong Song, Feng-ying Wang, Zhi-qiang Wang, Yi-bin Li

Affiliation(s):  College of Computer Science and Technology, Shandong University of Technology, Zibo 255000, China; more

Corresponding email(s):   lich@sdut.edu.cn

Key Words:  Mobile robot, Chebyshev map, Chaotic, Affine transformation, Coverage path planning

Cai-hong Li, Yong Song, Feng-ying Wang, Zhi-qiang Wang, Yi-bin Li. A chaotic coverage path planner for the mobile robot based on the Chebyshev map for special missions[J]. Frontiers of Information Technology & Electronic Engineering, 2017, 18(9): 1305-1319.

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A1 - Yi-bin Li
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PB - Zhejiang University Press & Springer
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DOI - 10.1631/FITEE.1601253

We introduce a novel strategy of designing a chaotic coverage path planner for the mobile robot based on the chebyshev map for achieving special missions. The designed chaotic path planner consists of a two-dimensional chebyshev map which is constructed by two one-dimensional chebyshev maps. The performance of the time sequences which are generated by the planner is improved by arcsine transformation to enhance the chaotic characteristics and uniform distribution. Then the coverage rate and randomness for achieving the special missions of the robot are enhanced. The chaotic Chebyshev system is mapped into the feasible region of the robot workplace by affine transformation. Then a universal algorithm of coverage path planning is designed for environments with obstacles. Simulation results show that the constructed chaotic path planner can avoid detection of the obstacles and the workplace boundaries, and runs safely in the feasible areas. The designed strategy is able to satisfy the requirements of randomness, coverage, and high efficiency for special missions.




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