Journal ArticleDOI
The chaotic mobile robot
Yoshihiko Nakamura,A. Sekiguchi +1 more
- Vol. 17, Iss: 6, pp 898-904
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TLDR
This paper designs a mobile robot with a controller that ensures chaotic motions such that the total dynamics of the mobile robot is represented by the Arnold equation, which is known to show the chaotic behavior of noncompressive perfect fluid.Abstract:
In this paper, we develop a method to impart the chaotic nature to a mobile robot. The chaotic mobile robot implies a mobile robot with a controller that ensures chaotic motions. Chaotic motion is characterized by the topological transitivity and the sensitive dependence on initial conditions. Due to the topological transitivity, the chaotic mobile robot is guaranteed to scan the whole connected workspace. For scanning motion, the chaotic robot neither requires the map of the workspace nor plans the global motion. It only requires the measurement of the local normal of the workspace boundary when it comes close to it. We design the controller such that the total dynamics of the mobile robot is represented by the Arnold equation, which is known to show the chaotic behavior of noncompressive perfect fluid. Experimental results and their analysis illustrate the usefulness of the proposed controller.read more
Citations
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Analysis and adaptive synchronization of eight-term 3-D polynomial chaotic systems with three quadratic nonlinearities
TL;DR: In this paper, an eight-term polynomial chaotic system with three quadratic nonlinearities was proposed and the maximal Lyapunov exponent (MLE) was obtained as L 1 = 6.5294.
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Experimental investigation on coverage performance of a chaotic autonomous mobile robot
TL;DR: A motion controller based on the dynamical behavior of a known discrete chaotic system, the Logistic map, is presented, based on a microcontroller for realizing a chaotic random bit generator and converting the produced chaotic bit sequence, to the robot's trajectory of motion.
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Hyperchaos, adaptive control and synchronization of a novel 5-D hyperchaotic system with three positive Lyapunov exponents and its SPICE implementation
TL;DR: In this article, a twelve-term novel 5D hyperchaotic Lorenz system with three quadratic nonlinearities has been derived by adding a feedback control to a ten-term 4-D hyper-chaotic RL system.
References
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Book
Introduction to Applied Nonlinear Dynamical Systems and Chaos
TL;DR: The Poincare-Bendixson Theorem as mentioned in this paper describes the existence, uniqueness, differentiability, and flow properties of vector fields, and is used to prove that a dynamical system is Chaotic.
Book
Chaotic Neural Networks
TL;DR: In this article, a model of a single neuron with chaotic dynamics is proposed by considering the following properties of biological neurons: (1) graded responses, relative refractoriness and spatio-temporal summation of inputs.
Journal ArticleDOI
Synchronization of Lorenz-based chaotic circuits with applications to communications
TL;DR: In this article, two possible approaches to secure communications are demonstrated with the Lorenz circuit implemented in both the transmitter and receiver, where a chaotic masking signal is added at the transmitter to the message, and at the receiver, the masking is regenerated and subtracted from the received signal.