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本文提出一种在特殊任务下基于Chebychev映射的移动机器人混沌全覆盖路径规划器的设计新策略。所设计的混沌路径规划器包含一个二维的Chebychev映射,该映射由两个一维的Chebychev映射构建而成。对规划器所产生的时间序列,进行反正弦变换,可以改善系统的混沌特性和均匀分布特性,从而提高机器人在完成特殊任务时的覆盖率和随机特性。通过仿射变换,Chebychev混沌系统映射到机器人工作空间的可行区域内,然后设计有障碍物环境下全覆盖路径规划的通用方法。仿真结果显示,所设计的混沌路径规划器在可行空间能够安全运行,不需要设计避障算法。所设计策略能够满足特殊任务下随机性、遍历性和高效率的需求。
In this paper, we propose a new design strategy of chaotic full-coverage path planner for mobile robots based on Chebychev mapping under special tasks. The designed chaotic path planner contains a two-dimensional Chebychev map constructed from two one-dimensional Chebychev mappings. Arccosine transformation of the time series generated by the planner can improve the chaotic characteristics and uniform distribution of the system, so as to improve the coverage and random characteristics of the robot in completing special tasks. Through affine transformation, the Chebychev chaotic system is mapped into the feasible region of the robot working space, and then a universal method of full-coverage path planning in obstacle environment is designed. The simulation results show that the designed chaotic path planner can operate safely in the feasible space without designing the obstacle avoidance algorithm. The strategy is designed to meet the needs of random tasks, ergodicity and high efficiency under special tasks.