A Bio-Inspired Controller to Generate Dense Wandering Workspace Trajectories

Random wandering is among the most frequently implemented mobile robotic behaviours. This paper presents a bio-inspired controller for mobile robots that generates deterministic wandering behaviour. Some results from the controller are derived theoretically and tested through simulations for symmetric cases, when analytic solutions are available. A technique to deal with non closed form wandering trajectories is also presented in a simple case study application.