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An Inverse Pheromone Approach in a Chaotic Mobile Robot’s Path Planning Based on a Modified Logistic Map

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Laboratory of Nonlinear Systems—Circuits and Complexity, Physics Department, Aristotle University of Thessaloniki, 541 24 Thessaloniki, Greece
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Department of Electronics, Computers, Telecommunications and Control, Faculty of Physics, National and Kapodistrian University, 157 72 Athens, Greece
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Daniels Felix Ritchie School of Engineering and Computer Science, University of Denver, Denver, CO 80208, USA
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Author to whom correspondence should be addressed.
This paper is an extended version of our paper published in Proceedings of the 8th International Conference on Modern Circuits and Systems Technologies (MOCAST), Thessaloniki, Greece, 13–15 May 2019
Technologies 2019, 7(4), 84; https://doi.org/10.3390/technologies7040084
Received: 20 November 2019 / Revised: 3 December 2019 / Accepted: 4 December 2019 / Published: 6 December 2019
(This article belongs to the Special Issue MOCAST 2019: Modern Circuits and Systems Technologies on Electronics)
One major topic in the research of path planning of autonomous mobile robots is the fast and efficient coverage of a given terrain. For this purpose, an efficient method for covering a given workspace is proposed, based on chaotic path planning. The method is based on a chaotic pseudo random bit generator that is generated using a modified logistic map, which is used to generate a chaotic motion pattern. This is then combined with an inverse pheromone approach in order to reduce the number of revisits in each cell. The simulated robot under study has the capability to move in four or eight directions. From extensive simulations performed in Matlab, it is derived that motion in eight directions gives superior results. Especially, with the inclusion of pheromone, the coverage percentage can significantly be increased, leading to better performance. View Full-Text
Keywords: autonomous mobile robot; chaos; path planning; inverse pheromone method; random bit generator autonomous mobile robot; chaos; path planning; inverse pheromone method; random bit generator
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Petavratzis, E.K.; Volos, C.K.; Moysis, L.; Stouboulos, I.N.; Nistazakis, H.E.; Tombras, G.S.; Valavanis, K.P. An Inverse Pheromone Approach in a Chaotic Mobile Robot’s Path Planning Based on a Modified Logistic Map. Technologies 2019, 7, 84.

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