期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2012
卷号：6
期号：1
页码：33
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：The chaotic mobile robot implies a mobile robot with a controller that ensures chaotic motions. Chaotic motion is characterized by the topological transitivity and the sensi- tive dependence on initial conditions. Due to the topologi- cal transitivity, the chaotic mobile robot is guaranteed to scan the whole connected workspace. The Chua's circuit, which is low cost and easy to construct for trajectory gen- erators, exhibits a rich variety of bifurcation and chaotic behaviors. This particular circuit is analyzed. It is shown how to generate a sequence of chaotic behaviors by vary- ing the value of a linear resistor of the Chua's circuit. Ac- cording to the simulation, with best adjusting parameters, and mapping the appropriate chaotic variables to robot's kinematic variables, the chaotic behavior is enhanced in the sense of wide area coverage and evenness index.
关键词：chaos; mobile robot; chaotic motion; chaotic ; mobile robot; Chua's circuit
