한국정보통신학회:학술대회논문집 (Proceedings of the Korean Institute of Information and Commucation Sciences Conference)
- 한국해양정보통신학회 2004년도 SMICS 2004 International Symposium on Maritime and Communication Sciences
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- Pages.100-105
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- 2004
Obstacle Avoidance in the Chaos Mobile Robot
- Bae, Young-Chul (Yosu National University) ;
- Kim, Yi-Gon (Yosu National University) ;
- Mathis Tinduk (Yosu National University) ;
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Koo, Young-Duk
(KISTI)
- 발행 : 2004.05.01
초록
In this paper, we propose a method to avoid obstacles that have unstable limit cycles in a chaos trajectory surface. We assume all obstacles in the chaos trajectory surface have a Van der Pol equation with an unstable limit cycle. When a chaos robot meets an obstacle in a Lorenz equation or Hamilton equation trajectory, the obstacle reflects the robot. We also show computer simulation results for avoidance obstacle which fixed obstacles and hidden obstacles of Lorenz equation and Hamilton equation chaos trajectories with one or more Van der Pol obstacles
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