An obstacle avoidence method for chaotic robots using angular degree limitions

Abstract

This paper presents a method to avoid obstacles that have unstable limit cycles in a chaos trajectory surface using angular degree limits. It is assumed that all obstacles in the chaos trajectory surface have a Van der Pol equation with an unstable limit cycle. When a chaos robot meets an obstacle in a Lorenz, Hamilton and Hyper-chaos equation trajectory that exceed the defined angular degree limits, the obstacle repulses the robot. Computer simulation of the Lorenz equation and the Hamilton and hyper-chaos equation trajectories, with one or more Van der Pol equations as the obstacle(s) is performed and the proposed method is verified through simulation of the chaotic trajectories in any plane, which avoids the obstacle when it is found, where the target is either met or within close range. © Springer-Verlag Berlin Heidelberg 2006.