Journal of Electrical Engineering-Elektrotechnicky Casopis

英文简介

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 aria 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.

中文简介

地形探测机器人在关键的导航环境中可能非常有用。然而，面临的挑战是如何确保控制覆盖整个地形区域。介绍了混沌振荡器在自主移动机器人车轮控制中的应用。基本上，我们描述了一种基于双涡卷混沌振荡器的随机数发生器（RNG）的实现，用于引导机器人覆盖整个地形区域。地形勘探ARIA的分辨率由RNG提供的位数和步进电机的特性决定。最后，实验结果通过绘制机器人探索的轨迹来突出覆盖区域。

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