中文簡(jiǎn)介

地形探測(cè)機(jī)器人在關(guān)鍵的導(dǎo)航環(huán)境中可能非常有用。然而，面臨的挑戰(zhàn)是如何確保控制覆蓋整個(gè)地形區(qū)域。介紹了混沌振蕩器在自主移動(dòng)機(jī)器人車輪控制中的應(yīng)用。基本上，我們描述了一種基于雙渦卷混沌振蕩器的隨機(jī)數(shù)發(fā)生器（RNG）的實(shí)現(xiàn)，用于引導(dǎo)機(jī)器人覆蓋整個(gè)地形區(qū)域。地形勘探ARIA的分辨率由RNG提供的位數(shù)和步進(jìn)電機(jī)的特性決定。最后，實(shí)驗(yàn)結(jié)果通過(guò)繪制機(jī)器人探索的軌跡來(lái)突出覆蓋區(qū)域。

英文簡(jiǎn)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.