Moysis, Lazaros (Aristotle University of Thessaloniki), Petavratzis, Eleftherios (Physics Department, Aristotle University of Thessaloniki), Volos, Christos (Aristotle University of Thessaloniki), Nistazakis, Hector (Department of Electronics, Computers, Telecommunications and Con), Stouboulos, Ioannis (Physics Department, Aristotle University of Thessaloniki), Valavanis, Kimon P. (University of Denver)

A Chaotic Path Planning Method for 3D Area Coverage Using Modified Logistic Map and a Modulo Tactic

Scheduled for presentation during the Regular Session "Path Planning II" (WeB2), Wednesday, September 2, 2020, 15:20−15:40, Kozani

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on April 19, 2024

Abstract

This paper addresses the problem of chaotic path planning for the case of an autonomous mobile robot or an autonomous unmanned arial vehicle (UAV) moving in a 3D environment. The aim is to derive a method to generate a series of chaotic motion commands for a UAV that is tasked to explore a given 3D grid. The objective is to generate an unpredictable motion, that will also give good coverage results relative to the number of motions generated. This work adapts a combination of a modified logistic map and a modulo operator to generate the motion directions. An inverse pheromone memory approach is also considered to improve performance. Simulations are then performed to evaluate the performance of the method.