%A Caihong LI,Chun FANG,Zhiqiang WANG,Bin XIA,Fengying WANG %T Complete coverage path planning for mobile robots based on hyperchaotic synchronization control %0 Journal Article %D 2019 %J Journal of Shandong University(Engineering Science) %R 10.6040/j.issn.1672-3961.0.2019.173 %P 63-72 %V 49 %N 6 %U {http://gxbwk.njournal.sdu.edu.cn/CN/abstract/article_1878.shtml} %8 2019-12-20 %X

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.