TY - JOUR
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
UR - http://www.scopus.com/inward/record.url?scp=84901700170&partnerID=8YFLogxK
U2 - 10.2478/jee-2014-0024
DO - 10.2478/jee-2014-0024
M3 - Artículo
SN - 1335-3632
VL - 65
SP - 157
EP - 162
JO - Journal of Electrical Engineering
JF - Journal of Electrical Engineering
IS - 3
ER -