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Journal of Zhejiang University SCIENCE C 1998 Vol.-1 No.-1 P.

http://doi.org/10.1631/FITEE.2200211


CCPP task for Lü system based of mobile robot to accomplish specific types of missions


Author(s):  Caihong LI, Cong LIU, Yong SONG, Zhenying LIANG

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

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

Key Words:  Chaotic mobile robot, Lü, system, CCPP, Lyapunov exponent, Pearson correlation coefficient


Caihong LI, Cong LIU, Yong SONG, Zhenying LIANG. CCPP task for Lü system based of mobile robot to accomplish specific types of missions[J]. Frontiers of Information Technology & Electronic Engineering, 1998, -1(-1): .

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Abstract: 
This paper proposes a novel comprehensive selection strategy of the parameter value of the ; system for constructing a chaotic robot to accomplish the complete coverage path planning (CCPP) task. The algorithm can meet the requirements of high randomness and coverage rate to perform specific types of missions. First, we roughly determine the value range of the parameter of the ; system to meet the requirement of being a dissipative system. Second, we calculate the lyapunov exponents to narrow the value range further. Next, the phase planes of the system are drawn to approximately judge the topological distribution characteristics of its trajectories. Furthermore, we calculate the pearson correlation coefficient of the variable for those good ones to judge the random characteristics of it. Finally, we construct a chaotic robot using the variables by the determined values of the parameter and simulate and test the coverage rate to study the relationship between it and the random characteristics of the variables. The above comprehensive selection strategy gradually narrows the value range of the system parameter according to the randomness requirement of the coverage trajectory. The ones selected can choose out the variables with a larger lyapunov exponent to construct a chaotic robot with a high coverage rate compared with those using a set of classical values of system parameters. Another chaotic system, the Lorenz system, is used to test and verify the feasibility and effectiveness of the designed strategy. This research can improve the efficiency of accomplishing CCPP tasks under specific types of missions.

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