Full Text:  <254>

Suppl. Mater.: 

CLC number: 

On-line Access: 2022-08-31

Received: 2022-05-15

Revision Accepted: 2022-07-22

Crosschecked: 0000-00-00

Cited: 0

Clicked: 208

Citations:  Bibtex RefMan EndNote GB/T7714

-   Go to

Article info.
Open peer comments

Frontiers of Information Technology & Electronic Engineering 

Accepted manuscript available online (unedited version)


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


Share this article to: More <<< Previous Paper|Next Paper >>>

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(9): .

@article{title="CCPP task for Lü system based of mobile robot to accomplish specific types of missions",
author="Caihong LI, Cong LIU, Yong SONG, Zhenying LIANG",
journal="Frontiers of Information Technology & Electronic Engineering",
volume="-1",
number="-1",
pages="",
year="1998",
publisher="Zhejiang University Press & Springer",
doi="10.1631/FITEE.2200211"
}

%0 Journal Article
%T CCPP task for Lü system based of mobile robot to accomplish specific types of missions
%A Caihong LI
%A Cong LIU
%A Yong SONG
%A Zhenying LIANG
%J Frontiers of Information Technology & Electronic Engineering
%V -1
%N -1
%P
%@ 1869-1951
%D 1998
%I Zhejiang University Press & Springer

TY - JOUR
T1 - CCPP task for Lü system based of mobile robot to accomplish specific types of missions
A1 - Caihong LI
A1 - Cong LIU
A1 - Yong SONG
A1 - Zhenying LIANG
J0 - Frontiers of Information Technology & Electronic Engineering
VL - -1
IS - -1
SP -
EP -
%@ 1869-1951
Y1 - 1998
PB - Zhejiang University Press & Springer
ER -


Abstract: 
This paper proposes a novel comprehensive selection strategy of the parameter value of the Lü 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 Lü 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.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

Reference

Open peer comments: Debate/Discuss/Question/Opinion

<1>

Please provide your name, email address and a comment





Journal of Zhejiang University-SCIENCE, 38 Zheda Road, Hangzhou 310027, China
Tel: +86-571-87952783; E-mail: cjzhang@zju.edu.cn
Copyright © 2000 - 2023 Journal of Zhejiang University-SCIENCE