Details

Autor(en) / Beteiligte

• Li, Cai-hong
• Fang, Chun
• Wang, Feng-ying
• Xia, Bin
• Song, Yong

Titel

Complete coverage path planning for an Arnold system based mobile robot to perform specific types of missions

Ist Teil von

• Frontiers of information technology & electronic engineering, 2019-11, Vol.20 (11), p.1530-1542

Ort / Verlag

Hangzhou: Zhejiang University Press

Erscheinungsjahr

2019

Quelle

SpringerNature Journals

Beschreibungen/Notizen

• We propose a contraction transformation algorithm to plan a complete coverage trajectory for a mobile robot to accomplish specific types of missions based on the Arnold dynamical system. First, we construct a chaotic mobile robot by combining the variable z of the Arnold equation and the kinematic equation of the robot. Second, we construct the candidate sets including the initial points with a relatively high coverage rate of the constructed mobile robot. Then the trajectory is contracted to the current position of the robot based on the designed contraction transformation strategy, to form a continuous complete coverage trajectory to execute the specific types of missions. Compared with the traditional method, the designed algorithm requires no obstacle avoidance to the boundary of the given workplace, possesses a high coverage rate, and keeps the chaotic characteristics of the produced coverage trajectory relatively unchanged, which enables the robot to accomplish special missions with features of completeness, randomness, or unpredictability.