Kinematic control of a robot by using a non-autonomous chaotic system

Abstract

In this chapter, a newnavigation strategy by designing a path planning generator, which ensures chaotic motion to an autonomous robot, has been investigated. This new technique is implemented by using the well-known from the nonlinear theory Poincaré map, which is produced by a non-autonomous chaotic system. For this reason one of the most studied non-autonomous systems, the Duffing—van der Pol system has been chosen, presenting suitable results. The path planning generator produces an unpredictable trajectory by converting the chaotic strange attractor, produced by system’s Poincaré map, into the robot’s “random” trajectory in a chosen workspace. As a consequence the autonomous robot covers the whole workspace with unpredictable way. The simulation results verify that the proposed generator achieves the aforementioned goal. So, with this work, new perspectives on use of non-autonomous chaotic systems in robotic applications are opened.