Dynamical path-planning algorithm of a mobile robot using chaotic neuron model
نویسندگان
چکیده
This paper describes a dynamical local pathplanning algorithm of a n autonomous mobile robot available fo r stationary obstacle avoidance using nonlinear friction. Dynamical path-planning algorithm i s considered to accommodate the mobile robot to the dynamic situation of the path-planning nature. Together with the previous virtual force f i e l d (VFF) method, the path of the mobile robot is a solution of a path-planning equation. Local m in ima problems in stationary environments are solved b y introducing nonlinear friction into the chaotic neuron. Because of the nonlinear friction, the proposed path-planner reveals chaotic dynamics in some parameter regions. This new path-planner is feasible to guide o n real-time the mobile robot avoiding stationary obstacles and reaching the goal. Computer simulations are presented to show the effectiveness of the proposed algorithm.
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