scholarly journals Chaotic Path Planning for 3D Area Coverage Using a Pseudo-Random Bit Generator from a 1D Chaotic Map

Mathematics ◽  
2021 ◽  
Vol 9 (15) ◽  
pp. 1821
Author(s):  
Lazaros Moysis ◽  
Karthikeyan Rajagopal ◽  
Aleksandra V. Tutueva ◽  
Christos Volos ◽  
Beteley Teka ◽  
...  
Keyword(s):  
Path Planning ◽  
Chaotic Map ◽  
Dynamical Behavior ◽  
Area Coverage ◽  
Phase Portraits ◽  
Planning Strategy ◽  
Spline Curves ◽  
Key Space ◽  
Aerial Vehicle ◽  
Discrete Motion

This work proposes a one-dimensional chaotic map with a simple structure and three parameters. The phase portraits, bifurcation diagrams, and Lyapunov exponent diagrams are first plotted to study the dynamical behavior of the map. It is seen that the map exhibits areas of constant chaos with respect to all parameters. This map is then applied to the problem of pseudo-random bit generation using a simple technique to generate four bits per iteration. It is shown that the algorithm passes all statistical NIST and ENT tests, as well as shows low correlation and an acceptable key space. The generated bitstream is applied to the problem of chaotic path planning, for an autonomous robot or generally an unmanned aerial vehicle (UAV) exploring a given 3D area. The aim is to ensure efficient area coverage, while also maintaining an unpredictable motion. Numerical simulations were performed to evaluate the performance of the path planning strategy, and it is shown that the coverage percentage converges exponentially to 100% as the number of iterations increases. The discrete motion is also adapted to a smooth one through the use of B-Spline curves.

scholarly journals A Cauchy mutant pigeon-inspired optimization–based multi-unmanned aerial vehicle path planning method

2020 ◽  
Vol 53 (1-2) ◽  
pp. 83-92 ◽  
Author(s):  
Bo Hang Wang ◽  
Dao Bo Wang ◽  
Zain Anwar Ali
Keyword(s):  
Path Planning ◽  
Unmanned Aerial Vehicle ◽  
Optimization Algorithm ◽  
Vehicle Group ◽  
Flight Duration ◽  
Planning Strategy ◽  
Optimum Position ◽  
Cauchy Mutation ◽  
Aerial Vehicle ◽  
Vehicle Path

To improve the performance of multi-unmanned aerial vehicle path planning in plateau narrow area, a control strategy based on Cauchy mutant pigeon-inspired optimization algorithm is proposed in this article. The Cauchy mutation operator is chosen to improve the pigeon-inspired optimization algorithm by comparing and analyzing the changing trend of fitness function of the local optimum position and the global optimum position when dealing with unmanned aerial vehicle path planning problems. The plateau topography model and plateau wind field model are established. Furthermore, a variety of control constrains of unmanned aerial vehicles are summarized and modeled. By combining with relative positions and total flight duration, a cooperative path planning strategy for unmanned aerial vehicle group is put forward. Finally, the simulation results show that the proposed Cauchy mutant pigeon-inspired optimization method gives better robustness and cooperative path planning strategy which are effective and advanced as compared with traditional pigeon-inspired optimization algorithm.

scholarly journals R-DFS: A Coverage Path Planning Approach Based on Region Optimal Decomposition

2021 ◽  
Vol 13 (8) ◽  
pp. 1525
Author(s):  
Gang Tang ◽  
Congqiang Tang ◽  
Hao Zhou ◽  
Christophe Claramunt ◽  
Shaoyang Men
Keyword(s):  
Path Planning ◽  
Google Earth ◽  
Simulation Experiments ◽  
Minimum Width ◽  
Coverage Path Planning ◽  
Optimal Paths ◽  
Planning Approach ◽  
Polygonal Area ◽  
Aerial Vehicle ◽  
Working Distance

Most Coverage Path Planning (CPP) strategies based on the minimum width of a concave polygonal area are very likely to generate non-optimal paths with many turns. This paper introduces a CPP method based on a Region Optimal Decomposition (ROD) that overcomes this limitation when applied to the path planning of an Unmanned Aerial Vehicle (UAV) in a port environment. The principle of the approach is to first apply a ROD to a Google Earth image of a port and combining the resulting sub-regions by an improved Depth-First-Search (DFS) algorithm. Finally, a genetic algorithm determines the traversal order of all sub-regions. The simulation experiments show that the combination of ROD and improved DFS algorithm can reduce the number of turns by 4.34%, increase the coverage rate by more than 10%, and shorten the non-working distance by about 29.91%. Overall, the whole approach provides a sound solution for the CPP and operations of UAVs in port environments.

Behavior of a Self-Sustained Electromechanical Transducer and Routes to Chaos

2005 ◽  
Vol 128 (3) ◽  
pp. 282-293 ◽  
Author(s):  
J. C. Chedjou ◽  
K. Kyamakya ◽  
I. Moussa ◽  
H.-P. Kuchenbecker ◽  
W. Mathis
Keyword(s):  
Electronic Circuit ◽  
Initial Conditions ◽  
Dynamical Behavior ◽  
Period Doubling ◽  
Electromechanical System ◽  
Phase Portraits ◽  
Coupling Coefficients ◽  
Oscillatory Solutions ◽  
Electromechanical Transducer ◽  
Design Engineers

This paper studies the dynamics of a self-sustained electromechanical transducer. The stability of fixed points in the linear response is examined. Their local bifurcations are investigated and different types of bifurcation likely to occur are found. Conditions for the occurrence of Hopf bifurcations are derived. Harmonic oscillatory solutions are obtained in both nonresonant and resonant cases. Their stability is analyzed in the resonant case. Various bifurcation diagrams associated to the largest one-dimensional (1-D) numerical Lyapunov exponent are obtained, and it is found that chaos can appear suddenly, through period doubling, period adding, or torus breakdown. The extreme sensitivity of the electromechanical system to both initial conditions and tiny variations of the coupling coefficients is also outlined. The experimental study of̱the electromechanical system is carried out. An appropriate electronic circuit (analog simulator) is proposed for the investigation of the dynamical behavior of the electromechanical system. Correspondences are established between the coefficients of the electromechanical system model and the components of the electronic circuit. Harmonic oscillatory solutions and phase portraits are obtained experimentally. One of the most important contributions of this work is to provide a set of reliable analytical expressions (formulas) describing the electromechanical system behavior. These formulas are of great importance for design engineers as they can be used to predict the states of the electromechanical systems and respectively to avoid their destruction. The reliability of the analytical formulas is demonstrated by the very good agreement with the results obtained by both the numeric and the experimental analysis.

Nonlinear Dynamics and Application of the Four Dimensional Autonomous Hyper-Chaotic System

2014 ◽  
Author(s):  
Ge Kai ◽  
Wei Zhang
Keyword(s):  
Nonlinear Dynamics ◽  
Numerical Simulation ◽  
Differential Equations ◽  
Chaotic System ◽  
Dynamical Behavior ◽  
Three Dimensional ◽  
Phase Portraits ◽  
State Variables ◽  
Chaotic Motions ◽  
Finance System

In this paper, we establish a dynamic model of the hyper-chaotic finance system which is composed of four sub-blocks: production, money, stock and labor force. We use four first-order differential equations to describe the time variations of four state variables which are the interest rate, the investment demand, the price exponent and the average profit margin. The hyper-chaotic finance system has simplified the system of four dimensional autonomous differential equations. According to four dimensional differential equations, numerical simulations are carried out to find the nonlinear dynamics characteristic of the system. From numerical simulation, we obtain the three dimensional phase portraits that show the nonlinear response of the hyper-chaotic finance system. From the results of numerical simulation, it is found that there exist periodic motions and chaotic motions under specific conditions. In addition, it is observed that the parameter of the saving has significant influence on the nonlinear dynamical behavior of the four dimensional autonomous hyper-chaotic system.

scholarly journals A Generalized Stability Theorem for Discrete-Time Nonautonomous Chaos System with Applications

2015 ◽  
Vol 2015 ◽  
pp. 1-12 ◽  
Author(s):  
Mei Zhang ◽  
Danling Wang ◽  
Lequan Min ◽  
Xue Wang
Keyword(s):  
Discrete Time ◽  
Chaotic Map ◽  
Stability Theorem ◽  
Pseudorandom Number Generator ◽  
Generalized Synchronization ◽  
Key Space ◽  
Chaos System ◽  
Definition Of ◽  
Study Designs ◽  
Generalized Stability

Firstly, this study introduces a definition of generalized stability (GST) in discrete-time nonautonomous chaos system (DNCS), which is an extension for chaos generalized synchronization. Secondly, a constructive theorem of DNCS has been proposed. As an example, a GST DNCS is constructed based on a novel 4-dimensional discrete chaotic map. Numerical simulations show that the dynamic behaviors of this map have chaotic attractor characteristics. As one application, we design a chaotic pseudorandom number generator (CPRNG) based on the GST DNCS. We use the SP800-22 test suite to test the randomness of four 100-key streams consisting of 1,000,000 bits generated by the CPRNG, the RC4 algorithm, the ZUC algorithm, and a 6-dimensional CGS-based CPRNG, respectively. The numerical results show that the randomness performances of the two CPRNGs are promising. In addition, theoretically the key space of the CPRNG is larger than 21116. As another application, this study designs a stream avalanche encryption scheme (SAES) in RGB image encryption. The results show that the GST DNCS is able to generate the avalanche effects which are similar to those generated via ideal CPRNGs.

A Path-Planning Strategy for Overhead Cranes With High Hoisting Speed

2002 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Path Planning ◽  
High Performance ◽  
Stability Theorem ◽  
Lyapunov Stability Theorem ◽  
Control Laws ◽  
Planning Strategy ◽  
Overhead Cranes ◽  
Time Control ◽  
Small Load ◽  
Load Swing

This paper proposes a path planning strategy for high-performance anti-swing control of overhead cranes, where the anti-swing control problem is solved as a kinematic problem. First, two anti-swing control laws, one for hoisting up and the other for hoisting down, are proposed based on the Lyapunov stability theorem. Then a new path-planning strategy is proposed based on the concept of minimum-time control and the proposed anti-swing control laws. The proposed path planning is free from the usual constraints of small load swing, slow hoisting speed, and small hoisting distance. The effectiveness of the proposed path planning is shown by computer simulation with high hoisting speed and hoisting ratio.

Path Planning Scheme for Collision Avoidance in Unmanned Aerial Vehicle Traffic Management System

2021 ◽  
Author(s):  
Amaanullah ◽  
Muhammed Ahmed Lamba ◽  
Surya Prakash S ◽  
Shrikant S. Tangade ◽  
Syed Sehraab Nawaz ◽  
...  
Keyword(s):  
Path Planning ◽  
Collision Avoidance ◽  
Unmanned Aerial Vehicle ◽  
Traffic Management ◽  
Management System ◽  
Vehicle Traffic ◽  
Planning Scheme ◽  
Aerial Vehicle ◽  
Traffic Management System
Sign in / Sign up

Export Citation Format

Share Document