基于超混沌同步控制的移动机器人全覆盖路径规划

doi:10.6040/j.issn.1672-3961.0.2019.173

摘要/Abstract

摘要：

针对移动机器人执行警戒、巡逻等特殊任务的随机性、遍历性等需求,提出一种基于超混沌同步控制的移动机器人全覆盖路径规划方法。以四维超混沌Lorenz系统为主驱动方程,利用单边耦合同步控制构造超混沌同步响应方程;将同步后的超混沌同步响应方程与移动机器人运动学方程相结合,构造混沌机器人路径规划器,产生满足特殊任务要求的全覆盖遍历轨迹;利用镜面映射方法对覆盖轨迹运行范围进行限制和对运行边界进行静态避障。对规划轨迹进行定性分析和定量计算发现,与同步以前的超混沌方程相比,利用超混沌同步方法构造后产生的全覆盖轨迹具有更好的遍历覆盖特性和随机特性,能够满足自主移动机器人执行警戒、巡逻等特殊任务的需求。

关键词: 移动机器人, 超混沌Lorenz系统, 超混沌同步控制, 全覆盖路径规划, 镜面映射, 特殊任务

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

中图分类号:

TP242.6

李彩虹,方春,王志强,夏斌,王凤英. 基于超混沌同步控制的移动机器人全覆盖路径规划[J]. 山东大学学报 (工学版), 2019, 49(6): 63-72.

Caihong LI,Chun FANG,Zhiqiang WANG,Bin XIA,Fengying WANG. Complete coverage path planning for mobile robots based on hyperchaotic synchronization control[J]. Journal of Shandong University(Engineering Science), 2019, 49(6): 63-72.

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

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

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