APPLICATION OF A CHAOTIC OSCILLATOR IN AN AUTONOMOUS MOBILE ROBOT

Esteban Tlelo-Cuautle – Hugo C. Ramos-López – Mauro Sánchez-Sánchez – Ana D. Pano-Azucena – Luis A. Sánchez-Gaspariano – José C. Núñez-Pérez – Jorge L. Camas-Anzueto

   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 area 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.

Keywords: chaotic oscillator, operational amplifier, random number generator, autonomous robot, step motor, microcontroller

[full-paper]