MOBILE ROBOT MOTION CONTROL BASED ON CHAOTIC TRAJECTORY GENERATION

  • Ammar Ibrahim Majeed Electrical Engineering Department, College of Engineering, Mustansiriyah University, Baghdad, Iraq

Abstract

This paper introduces chaotic motion control of autonomous differential drive wheeled mobile robot to cover a certain surrounded area completely and as fast as possible. The suggested method was based on utilization of chaotic logistic map to accomplish a complete coverage of entire area. The trajectory is created by a microcontroller and fed to the designed robot using the proposed chaotic trajectory generator. The designed robot was occupied with infrared sensors to avoid the unforeseen obstacles during the navigation. The mathematical model of the designed robot and the motion control strategy were described in details. Computer simulation tests as well as the practical tests by using the designed robot show satisfactory results and confirm the success of the proposed method.


 

Published
2020-08-25
How to Cite
MAJEED, Ammar Ibrahim. MOBILE ROBOT MOTION CONTROL BASED ON CHAOTIC TRAJECTORY GENERATION. JOURNAL OF ENGINEERING AND SUSTAINABLE DEVELOPMENT, [S.l.], v. 24, n. 4, p. 48-55, aug. 2020. ISSN 2520-0925. Available at: <http://jeasd.uomustansiriyah.edu.iq/index.php/jeasd/article/view/822>. Date accessed: 22 oct. 2020.