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摘要
This work presents a chaotic path planning generator which is used in autonomous mobile robots, in order to cover a terrain. The proposed generator is based on a nonlinear circuit, which shows chaotic behavior. The bit sequence, produced by the chaotic generator, is converted to a sequence of planned positions, which satisfies the requirements for unpredictability and fast scanning of the entire terrain. The nonlinear circuit and the trajectory-planner are described thoroughly. Simulation tests confirm that with the proposed path planning generator better results can be obtained with regard to previous works.
- 出版日期2012-4
