Smooth and Efficient Scanning Algorithm for Mobile Robot using Double-Scroll Chua Attractor and Artificial Potential Field
Sinta Uri El Hakim, Adha Imam Cahyadi, Oyas Wahyunggoro · 2021
Building a robot that is perform a thorough area scan can be done by applying chaotic motion. To be able to build a robot that can avoid an obstacle, it is necessary to add an obstacle avoidance algorithm. In this study, two algorithms were combined: Double-Scroll Chua Attractor and Artificial Potential Field (APF). Double-Scroll Chua Attractor was used to create the chaotic motion for mobile robot path planning. Meanwhile, the APF algorithm was used for obstacle avoidance. To get the desired result, it is necessary to constrains parameter, i.e.: initial condition, number of iteration, and speed. The obstacle used in this study was a circular obstacle with a radius of 0.001 meter. It was placed in various coordinates and the path planning of the mobile robot was able to avoid it well. The simulation results of this study show that the robot is capable of scanning the area while avoiding obstacles in certain coordinates.