Journal of Shandong University(Engineering Science) ›› 2019, Vol. 49 ›› Issue (6): 63-72.doi: 10.6040/j.issn.1672-3961.0.2019.173

• Control Science & Engineering - Special Topic on Robot • Previous Articles     Next Articles

Complete coverage path planning for mobile robots based on hyperchaotic synchronization control

Caihong LI(),Chun FANG,Zhiqiang WANG,Bin XIA,Fengying WANG   

  1. School of Computer Science and Technology, Shandong University of Technology, Zibo 255000, Shandong, China
  • Received:2019-04-16 Online:2019-12-20 Published:2019-12-17
  • Supported by:
    国家自然基金资助项目(61473179);国家自然基金资助项目(61602280);山东省自然科学基金资助项目(ZR2017MF047);淄博市校城融合发展计划项目(2018ZBXC295)

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Abstract:

Based on the requirements of randomness and completeness of the mobile robots under special tasks such as the surveillance, patrol, etc., a complete coverage path planning method for robots by the hyperchaotic synchronization control strategy was proposed. The four-dimensional hyperchaotic Lorenz system was used as the main driving equation, and the hyperchaotic synchronization response equation was constructed by the single-coupled hyperchaotic synchronization control. A path planner of the chaotic robot was constructed by combining synchronized hyperchaotic synchronous response system with kinematics equation of mobile robot to produce the complete coverage path and satisfy the requirements of the special tasks. The mirror mapping method was used to limit the running range of the coverage trajectory and to avoid the static obstacles at the workspace boundary. Qualitative analysis and quantitative calculations of the planned trajectories showed that the coverage trajectories produced by hyperchaotic synchronization method had better coverage rate and randomness, which could meet the requirements of autonomous mobile robots for special tasks.

Key words: mobile robot, hyperchaotic Lorenz system, hyperchaotic synchronization control, complete coverage path planning, mirror mapping, special tasks

CLC Number: 

  • TP242.6

Fig.1

The Lyapunov exponent spectrum λ with the change of parameters c and d"

Fig.2

Phase space (or attractor) of three variables"

Fig.3

Figures of time series"

Fig.4

State synchronizations and phase diagrams of hyperchaotic principal equation and response equation"

Fig.5

Synchronization of corresponding variables for hyperchaotic equation"

Fig.6

Variation of single synchronization errors forhyperchaotic system"

Fig.7

Coverage trajectories generated by robots before and after synchronization using different variables xi and yi"

Table 1

Comparison of the coverage rate of the planned path with/without synchronization control"

是否有同步控制 覆盖率/%
i=1 i=2 i=3 i=4
无(xi) 16.50 10.50 25.25 12.75
有(yi) 35.75 35.50 44.75 30.00

Fig.8

Sensitivity of planned trajectories to initial values"

Fig.9

Mirror mapping principle"

Fig.10

Coverage trajectories in a given workplace"

Fig.11

Planned trajectories by y1"

Fig.12

Planned trajectories by y2"

Fig.13

Planned trajectories by y3"

Fig.14

Planned trajectories by y4"

Table 2

The coverage rate of the planned trajectories"

迭代次数n 覆盖率/%
y1 y2 y3 y4
5 000 86.00 81.50 78.50 78.25
10 000 98.75 93.50 94.75 94.75

Fig.15

Sensitivity of coverage trajectories to initial values in a given workplace"

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