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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.

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In this work, a novel hyperjerk system, with hyperbolic sine function as the only nonlinear term, is proposed, as a modification of a hyperjerk system proposed by Leutcho et al. First, a dynamical analysis on the system is performed and interesting phenomena concerning chaos theory, such as route to chaos, antimonotonicity, crisis, and coexisting attractors, are studied. For this reason, the system’s bifurcation diagrams with respect to different parameter values are plotted and its Lyapunov exponents are computed. Afterwards, the synchronization of the system is considered, using active control. The proposed system is then applied, as a chaotic generator, to the problem of chaotic path planning, using a combination of sampling and a modulo tactic technique.

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