Parameter value selection strategy for complete coverage path planning based on the Lüsystem to perform specific types of missions

We propose a novel parameter value selection strategy for the Lüsystem to construct a chaotic robot to accomplish the complete coverage path planning(CCPP)task.The algorithm can meet the requirements of high randomness and coverage rate to perform specific types of missions.First,we roughly determine the value range of the parameter of the Lüsystem to meet the requirement of being a dissipative system.Second,we calculate the Lyapunov exponents to narrow the value range further.Next,we draw the phase planes of the system to approximately judge the topological distribution characteristics of its trajectories.Furthermore,we calculate the Pearson correlation coefficient of the variable for those good ones to judge its random characteristics.Finally,we construct a chaotic robot using variables with the determined parameter values and simulate and test the coverage rate to study the relationship between the coverage rate and the random characteristics of the variables.The above selection strategy gradually narrows the value range of the system parameter according to the randomness requirement of the coverage trajectory.Using the proposed strategy,proper variables can be chosen with a larger Lyapunov exponent to construct a chaotic robot with a higher coverage rate.Another chaotic system,the Lorenz system,is used to verify the feasibility and effectiveness of the designed strategy.The proposed strategy for enhancing the coverage rate of the mobile robot can improve the efficiency of accomplishing CCPP tasks under specific types of missions.

ROBUST EXPONENTIAL STABILIZATION OF UNCERTAIN NONHOLONOMIC CHAINED SYSTEMS BASED ON VISUAL FEEDBACK

The visual serving stabilization for a kind of nonholonomic mobile robots with uncalibrated camera parameters is investigated based on the visual feedback and the state and input transforma- tions. The authors obtain a new uncertain model of the nonholonomic kinematic system in the image plane, which is a chained form with uncalibrated visual parameters, from the camera robotic system. A new time varying feedback controller is proposed for the exponential stabilization of the nonholonomic chained system with unknown parameters by using state-scaling and switching technique. The exponential stability of the closed loop system is rigorously proved. Simulation results demonstrate the effectiveness of the proposed methods.