Chaos in Wall Following Robots
نویسندگان
چکیده
We study generalized wall following behavior of mobile robots using numerical simulations. We find that the dynamics are chaotic over a range of parameter values. In addition, we propose a theory of wall following where the robot-wall combination can be treated as a pendulum-like nonlinear oscillator, driven by perturbations in the environment. We compute the dominant Lyapunov exponent for a robot following a periodic undulating wall and the divergence of neighboring trajectories of wall following robots in a maze.
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