Motion Control of a Mobile Robot Based on Double-Scroll Chaotic Circuits

In this paper, the motion control of a mobile robot, which is based on a specific type of chaotic systems, is studied. These systems produce the well-known from the nonlinear theory double-scroll chaotic attractors. So, the proposed motion control strategy of the mobile robot is based on a chaotic path planning generator in order to cover a terrain fast and with unpredictable way. For choosing the system with the best appearance in regard of the terrain coverage, three different nonlinear dynamical systems with double-scroll chaotic behavior, the Chua oscillator, the Lorenz system, and a circuit with a nonlinear resistor having an i-v characteristic based on a saturation function, were used. The comparative study of the proposed double-scroll systems shows that the third system has significantly greater terrain coverage, among the three used dynamical systems. Key-Words: Mobile robot, motion control, chaos, Chua circuit, Lorenz system, double-scroll chaotic attractors.