Application of a chaotic oscillator in an autonomous mobile robot

Esteban Tlelo-Cuautle; Hugo C. Ramos-López; Mauro Sánchez-Sánchez; Ana D. Pano-Azucena; Luis A. Sánchez-Gaspariano; José C. Núñez-Pérez; Jorge L. Camas-Anzueto

doi:10.2478/jee-2014-0024

Application of a chaotic oscillator in an autonomous mobile robot

Esteban Tlelo-Cuautle, Hugo C. Ramos-López, Mauro Sánchez-Sánchez, Ana D. Pano-Azucena, Luis A. Sánchez-Gaspariano, José C. Núñez-Pérez, Jorge L. Camas-Anzueto

Centro de Investigación y Desarrollo de Tecnología Digital (CITEDI)

Research output: Contribution to journal › Article › peer-review

17 Scopus citations

Abstract

Terrain exploration robots can be of great usefulness in critical navigation circumstances. However, the challenge is how to guarantee a control for covering a full terrain area. That way, the application of a chaotic oscillator to control the wheels of an autonomous mobile robot, is introduced herein. Basically, we describe the realization of a random number generator (RNG) based on a double-scroll chaotic oscillator, which is used to guide the robot to cover a full terrain area. The resolution of the terrain exploration area is determined by both the number of bits provided by the RNG and the characteristics of step motors. Finally, the experimental results highlight the covered area by painting the trajectories that the robot explores.

Original language	English
Pages (from-to)	157-162
Number of pages	6
Journal	Journal of Electrical Engineering
Volume	65
Issue number	3
DOIs	https://doi.org/10.2478/jee-2014-0024
State	Published - 2014

Keywords

Autonomous robot
Chaotic oscillator
Microcontroller
Operational amplifier
Random number generator
Step motor

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10.2478/jee-2014-0024

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title = "Application of a chaotic oscillator in an autonomous mobile robot",

abstract = "Terrain exploration robots can be of great usefulness in critical navigation circumstances. However, the challenge is how to guarantee a control for covering a full terrain area. That way, the application of a chaotic oscillator to control the wheels of an autonomous mobile robot, is introduced herein. Basically, we describe the realization of a random number generator (RNG) based on a double-scroll chaotic oscillator, which is used to guide the robot to cover a full terrain area. The resolution of the terrain exploration area is determined by both the number of bits provided by the RNG and the characteristics of step motors. Finally, the experimental results highlight the covered area by painting the trajectories that the robot explores.",

keywords = "Autonomous robot, Chaotic oscillator, Microcontroller, Operational amplifier, Random number generator, Step motor",

author = "Esteban Tlelo-Cuautle and Ramos-L{\'o}pez, {Hugo C.} and Mauro S{\'a}nchez-S{\'a}nchez and Pano-Azucena, {Ana D.} and S{\'a}nchez-Gaspariano, {Luis A.} and N{\'u}{\~n}ez-P{\'e}rez, {Jos{\'e} C.} and Camas-Anzueto, {Jorge L.}",

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year = "2014",

doi = "10.2478/jee-2014-0024",

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volume = "65",

pages = "157--162",

journal = "Journal of Electrical Engineering",

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T1 - Application of a chaotic oscillator in an autonomous mobile robot

AU - Tlelo-Cuautle, Esteban

AU - Ramos-López, Hugo C.

AU - Sánchez-Sánchez, Mauro

AU - Pano-Azucena, Ana D.

AU - Sánchez-Gaspariano, Luis A.

AU - Núñez-Pérez, José C.

AU - Camas-Anzueto, Jorge L.

N1 - Funding Information: This work has been supported by CONACyT Mexico under project 131839-Y.

PY - 2014

Y1 - 2014

N2 - Terrain exploration robots can be of great usefulness in critical navigation circumstances. However, the challenge is how to guarantee a control for covering a full terrain area. That way, the application of a chaotic oscillator to control the wheels of an autonomous mobile robot, is introduced herein. Basically, we describe the realization of a random number generator (RNG) based on a double-scroll chaotic oscillator, which is used to guide the robot to cover a full terrain area. The resolution of the terrain exploration area is determined by both the number of bits provided by the RNG and the characteristics of step motors. Finally, the experimental results highlight the covered area by painting the trajectories that the robot explores.

AB - Terrain exploration robots can be of great usefulness in critical navigation circumstances. However, the challenge is how to guarantee a control for covering a full terrain area. That way, the application of a chaotic oscillator to control the wheels of an autonomous mobile robot, is introduced herein. Basically, we describe the realization of a random number generator (RNG) based on a double-scroll chaotic oscillator, which is used to guide the robot to cover a full terrain area. The resolution of the terrain exploration area is determined by both the number of bits provided by the RNG and the characteristics of step motors. Finally, the experimental results highlight the covered area by painting the trajectories that the robot explores.

KW - Autonomous robot

KW - Chaotic oscillator

KW - Microcontroller

KW - Operational amplifier

KW - Random number generator

KW - Step motor

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U2 - 10.2478/jee-2014-0024

DO - 10.2478/jee-2014-0024

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VL - 65

SP - 157

EP - 162

JO - Journal of Electrical Engineering

JF - Journal of Electrical Engineering

IS - 3

ER -

Application of a chaotic oscillator in an autonomous mobile robot

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Keywords

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