scholarly journals An Improved Chaotic Motion Path Planner for Autonomous Mobile Robots Based on a Logistic Map

10.5772/56587 ◽  
2013 ◽  
Vol 10 (6) ◽  
pp. 273 ◽  
Author(s):  
Caihong Li ◽  
Fengying Wang ◽  
Lei Zhao ◽  
Yibin Li ◽  
Yong Song
Keyword(s):  
Mobile Robots ◽  
Chaotic Motion ◽  
Logistic Map ◽  
Autonomous Mobile Robots ◽  
Motion Path ◽  
Path Planner

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

Technologies ◽  
2019 ◽  
Vol 7 (4) ◽  
pp. 84
Author(s):  
Eleftherios K. Petavratzis ◽  
Christos K. Volos ◽  
Lazaros Moysis ◽  
Ioannis N. Stouboulos ◽  
Hector E. Nistazakis ◽  
...  
Keyword(s):  
Path Planning ◽  
Mobile Robots ◽  
Efficient Method ◽  
Chaotic Motion ◽  
Logistic Map ◽  
Autonomous Mobile Robots ◽  
Motion Pattern ◽  
Major Topic ◽  
Random Bit Generator ◽  
Modified Logistic Map

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.

scholarly journals Chaotic Path Planner of Autonomous Mobile Robots Based on the Standard Map for Surveillance Missions

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Caihong Li ◽  
Yong Song ◽  
Fengying Wang ◽  
Zhenying Liang ◽  
Baoyan Zhu
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Small Region ◽  
Autonomous Mobile Robots ◽  
Large Region ◽  
Standard Map ◽  
Path Planner

This paper proposes a fusion iterations strategy based on the Standard map to generate a chaotic path planner of the mobile robot for surveillance missions. The distances of the chaotic trajectories between the adjacent iteration points which are produced by the Standard map are too large for the robot to track. So a fusion iterations strategy combined with the large region iterations and the small grids region iterations is designed to resolve the problem. The small region iterations perform the iterations of the Standard map in the divided small grids, respectively. It can reduce the adjacent distances by dividing the whole surveillance workspace into small grids. The large region iterations combine all the small grids region iterations into a whole, switch automatically among the small grids, and maintain the chaotic characteristics of the robot to guarantee the surveillance missions. Compared to simply using the Standard map in the whole workspace, the proposed strategy can decrease the adjacent distances according to the divided size of the small grids and is convenient for the robot to track.

scholarly journals Determining Shape and Size of Personal Space of a Human when Passed by a Robot

2021 ◽  
Author(s):  
Margot M. E. Neggers ◽  
Raymond H. Cuijpers ◽  
Peter A. M. Ruijten ◽  
Wijnand A. IJsselsteijn
Keyword(s):  
Mobile Robots ◽  
Humanoid Robot ◽  
Personal Space ◽  
Human Robot Interaction ◽  
Autonomous Mobile Robots ◽  
Robot Interaction ◽  
Human Comfort ◽  
Navigation Algorithms ◽  
Insight Into ◽  
Shape And Size

AbstractAutonomous mobile robots that operate in environments with people are expected to be able to deal with human proxemics and social distances. Previous research investigated how robots can approach persons or how to implement human-aware navigation algorithms. However, experimental research on how robots can avoid a person in a comfortable way is largely missing. The aim of the current work is to experimentally determine the shape and size of personal space of a human passed by a robot. In two studies, both a humanoid as well as a non-humanoid robot were used to pass a person at different sides and distances, after which they were asked to rate their perceived comfort. As expected, perceived comfort increases with distance. However, the shape was not circular: passing at the back of a person is more uncomfortable compared to passing at the front, especially in the case of the humanoid robot. These results give us more insight into the shape and size of personal space in human–robot interaction. Furthermore, they can serve as necessary input to human-aware navigation algorithms for autonomous mobile robots in which human comfort is traded off with efficiency goals.

Sign in / Sign up

Export Citation Format

Share Document