摘要
We propose a contraction transformation algorithm to plan a complete coverage trajectory for a mobile robot to ac-complish specific types of missions based on the Arnold dynamical system. First, we construct a chaotic mobile robot by com-bining the variable z of the Arnold equation and the kinematic equation of the robot. Second, we construct the candidate sets including the initial points with a relatively high coverage rate of the constructed mobile robot. Then the trajectory is contracted to the current position of the robot based on the designed contraction transformation strategy, to form a continuous complete cov-erage trajectory to execute the specific types of missions. Compared with the traditional method, the designed algorithm requires no obstacle avoidance to the boundary of the given workplace, possesses a high coverage rate, and keeps the chaotic characteristics of the produced coverage trajectory relatively unchanged, which enables the robot to accomplish special missions with features of completeness, randomness, or unpredictability.
We propose a contraction transformation algorithm to plan a complete coverage trajectory for a mobile robot to accomplish specific types of missions based on the Arnold dynamical system. First, we construct a chaotic mobile robot by combining the variable z of the Arnold equation and the kinematic equation of the robot. Second, we construct the candidate sets including the initial points with a relatively high coverage rate of the constructed mobile robot. Then the trajectory is contracted to the current position of the robot based on the designed contraction transformation strategy, to form a continuous complete coverage trajectory to execute the specific types of missions. Compared with the traditional method, the designed algorithm requires no obstacle avoidance to the boundary of the given workplace, possesses a high coverage rate, and keeps the chaotic characteristics of the produced coverage trajectory relatively unchanged, which enables the robot to accomplish special missions with features of completeness, randomness, or unpredictability.
基金
Project supported by the National Natural Science Foundation of China(Nos.61473179,61602280,and 61573213)
the Natural Science Foundation of Shandong Province,China(Nos.ZR2017MF047,ZR2015CM016,and ZR2014FM007)
the Shandong University of Technology&Zibo City Integration Development Project,China(No.2018ZBXC295)。
