Simulation of moving obstacle avoidance by orbit control using intermittency chaos.

This paper discusses the moving obstacle avoidance problem using intermittency chaos. It is a proposal of modeling an agent-oriented robot, which controls the orbit by utilizing chaotic fluctuation. More precisely, a modified Bernoulli system that generates intermittency chaotic mapping is considered. By varying the parameters of the system, a wide range of controls, from random-rich control to locally converging control, can easily be realized, which is expected to result in more adequate orbit control. This paper discusses the modeling of the orbit control by the above method for the moving obstacle avoidance of the robot. The effectiveness of the method is evaluated based on the results of simulation. The following observations are made. (1) Efficient orbit correction can be realized, where the obstacle is avoided by the path that minimizes the loss in regard to the moving distance and the energy consumption. (2) Even in a complex environment composed of multiple obstacles, adequate avoidance can be realized by a simple algorithm. © 2000 Scripta Technica, Electron Comm Jpn Pt 3, 83(6): 19–29, 2000 [ABSTRACT FROM AUTHOR]