A chaotic path planning generator for autonomous mobile robots

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.

► We examine a chaotic path planning generator for autonomous mobile robots.
► The generator is based on a nonlinear circuit, which shows chaotic behavior.
► The bit sequence, produced by the generator, is converted to a sequence of planned positions.
► The requirements of unpredictability and fast scanning of the entire terrain are satisfied.
► Better results can be obtained with regard to previous works.