Trajectory planning for surveillance missions of mobile robots

Abstract

This paper discusses a trajectory planning strategy for surveillance mobile robots. This specific kind of mission requires fast scanning of the robot workspace using trajectories resembling non-planned motion for external observers. The proposed trajectory planner is based on the typical behaviour of chaotic dynamical systems. A chaotic behaviour is imparted to the robot using a trajectory-planner based on the well-known Standard map. © 2007 Springer-Verlag Berlin Heidelberg.