Τίτλος:
An Inverse Pheromone Approach in a Chaotic Mobile Robot's Path Planning
Based on a Modified Logistic Map
Γλώσσες Τεκμηρίου:
Αγγλικά
Περίληψη:
One major topic in the research of path planning of autonomous mobile
robots is the fast and efficient coverage of a given terrain. For this
purpose, an efficient method for covering a given workspace is proposed,
based on chaotic path planning. The method is based on a chaotic pseudo
random bit generator that is generated using a modified logistic map,
which is used to generate a chaotic motion pattern. This is then
combined with an inverse pheromone approach in order to reduce the
number of revisits in each cell. The simulated robot under study has the
capability to move in four or eight directions. From extensive
simulations performed in Matlab, it is derived that motion in eight
directions gives superior results. Especially, with the inclusion of
pheromone, the coverage percentage can significantly be increased,
leading to better performance.
Συγγραφείς:
Petavratzis, Eleftherios K.
Volos, Christos K.
Moysis, Lazaros
and Stouboulos, Ioannis N.
Nistazakis, Hector E.
Tombras, George
S.
Valavanis, Kimon P.
Περιοδικό:
Dissolution Technologies
Λέξεις-κλειδιά:
autonomous mobile robot; chaos; path planning; inverse pheromone method;
random bit generator
DOI:
10.3390/technologies7040084
