A chaotic coverage path planner for the mobile robot based on the Chebyshev map for special missions  

作　　者：Cai-hong LI Yong SONG Feng-ying WANG Zhi-qiang WANG Yi-bin LI 

机构地区：[1]College of Computer Science and Technology, Shandong University of Technology, Zibo 255000, China [2]School of Mechanical, Electrical & Information Engineering, Shandong University, Weihai 264209, China

出　　处：《Frontiers of Information Technology & Electronic Engineering》2017年第9期1305-1319,共15页信息与电子工程前沿（英文版）

基　　金：Project supported by thc National Natural Science Foundation of China （Nos. 61473179, 61573213, and 61233014）, the Natural Sci- ence Foundation of Shandong Province, China （Nos. ZR2014FM007 and ZR2015CM016）, and the Key Research and Development Project of Shandong Province, China （No. 2016GGX101027）

摘　　要：We introduce a novel strategy of designing a chaotic coverage path planner for the mobile robot based on the Che- byshev map for achieving special missions. The designed chaotic path planner consists of a two-dimensional Chebyshev map which is constructed by two one-dimensional Chebyshev maps. The performance of the time sequences which are generated by the planner is improved by arcsine transformation to enhance the chaotic characteristics and uniform distribution. Then the coverage rate and randomness for achieving the special missions of the robot are enhanced. The chaotic Chebyshev system is mapped into the feasible region of the robot workplace by affine transformation. Then a universal algorithm of coverage path planning is designed for environments with obstacles. Simulation results show that the constructed chaotic path planner can avoid detection of the obstacles and the workplace boundaries, and runs safely in the feasible areas. The designed strategy is able to satisfy the requirements of randomness, coverage, and high efficiency for special missions.本文提出一种在特殊任务下基于Chebychev映射的移动机器人混沌全覆盖路径规划器的设计新策略。所设计的混沌路径规划器包含一个二维的Chebychev映射,该映射由两个一维的Chebychev映射构建而成。对规划器所产生的时间序列,进行反正弦变换,可以改善系统的混沌特性和均匀分布特性,从而提高机器人在完成特殊任务时的覆盖率和随机特性。通过仿射变换,Chebychev混沌系统映射到机器人工作空间的可行区域内,然后设计有障碍物环境下全覆盖路径规划的通用方法。仿真结果显示,所设计的混沌路径规划器在可行空间能够安全运行,不需要设计避障算法。所设计策略能够满足特殊任务下随机性、遍历性和高效率的需求。

关 键 词：Mobile robot Chebyshev map CHAOTIC Affine transformation Coverage path planning 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]