Performance Evaluation of Chaotic Mobile Robot Controllers

The chaotic mobile robot implies a mobile robot with a controller that ensures chaotic motions. A chaotic signal for an autonomous mobile robot is to increase and to take advantage of coverage areas resulting from its travelling paths. Large coverage areas are desirable for many applications such as robots designed for scanning of unknown workspaces with borders and barriers of unknown shape, as in patrol or cleaning purposes. The chaotic behavior of the mobile robot is achieved by adding nonlinear equations into the robot kinematic equations, like Arnold, Lornez, and the Chua’s circuit equations, that are well known equations for had a chaotic behavior. The performance of the three controllers is tested in four different scenarios and evaluated in the sense of the wide area coverage, the evenness index, and trajectory length.