• International Journal of Fuzzy Logic and Intelligent Systems
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• 제3권2호
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• pp.206-214
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• 2003

In this paper, we propose a method to avoid obstacles that have unstable limit cycles in a chaos trajectory surface. We assume all obstacles in the chaos trajectory surface have a Van der Pol equation with an unstable limit cycle. When a chaos robot meets an obstacle in an Arnold equation or Chua's equation trajectory, the obstacle reflects the robot. We also show computer simulation results of Arnold equation and Chua's equation and random walk chaos trajectories with one or more Van der Pol obstacles and compare the coverage rates of each trajectory. We show that the Chua's equation is slightly more efficient in coverage rates when two robots are used, and the optimal number of robots in either the Arnold equation or the Chua's equation is also examined.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2004년도 SMICS 2004 International Symposium on Maritime and Communication Sciences
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• pp.100-105
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• 2004

In this paper, we propose a method to avoid obstacles that have unstable limit cycles in a chaos trajectory surface. We assume all obstacles in the chaos trajectory surface have a Van der Pol equation with an unstable limit cycle. When a chaos robot meets an obstacle in a Lorenz equation or Hamilton equation trajectory, the obstacle reflects the robot. We also show computer simulation results for avoidance obstacle which fixed obstacles and hidden obstacles of Lorenz equation and Hamilton equation chaos trajectories with one or more Van der Pol obstacles

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2003년도 추계종합학술대회
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• pp.584-588
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• 2003

In this paper, we propose a method to avoid obstacles that have unstable limit cycles in a Hyperchaos trajectory surface. We assume all obstacles in the chaos trajectory surface have a Van der Pol equation with an unstable limit cycle. When a chaos robot meets an obstacle in a hyper-chaos equation trajectory, the obstacle reflects the robot. We also show computer simulation result of hyperchaos equation trajectories with one or more Van der Pol obstacles.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2004년도 SMICS 2004 International Symposium on Maritime and Communication Sciences
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• pp.123-127
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• 2004

In this paper, we propose that the chaotic behavior analysis in the several Arnold chaos mobile robot of embedding some chaotic such as Arnold equation with obstacle. In order to analysis of chaotic behavior in the mobile robot, we apply not only qualitative analysis such as time-series, embedding phase plane, but also quantitative analysis such as Lyapunov exponent in the mobile robot with obstacle. We consider that there are two type of obstacle, one is fixed obstacle and the other is hidden obstacle which have an unstable limit cycle. In the hidden obstacles case, we only assume that all obstacles in the chaos trajectory surface in which robot workspace has an unstable limit cycle with Van der Pol equation.

• 한국정보통신학회논문지
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• 제8권8호
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• pp.1692-1699
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• 2004

본 논문에서는 카오스 궤적 표면에서 불안정한 리미트 사이클을 가지는 장애물 회피 기법을 제안하였다. 카오스 궤적 표면의 모든 장애물은 불안정한 리미트 사이클을 가지는 Van der Pol 방정식으로 가정하였다. 하나 또는 몇 개의 Van der Pol 장애물과 고정 장애물을 로봇이 피해가는 과정을 결과로 나타내었다.

• 한국지능정보시스템학회:학술대회논문집
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• 한국지능정보시스템학회 2005년도 공동추계학술대회
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• pp.197-204
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• 2005

In this paper, we propose a method to an obstacle avoidance of chaotic robots that have unstable limit cycles in a chaos trajectory surface in the ubiquitous environment. We assume all obstacles in the chaos trajectory surface have a Van der Pol equation with an unstable limit cycle. We also show computer simulation results of Chua's equation, Lorenz equation, Hamilton and Hyper-chaos equation trajectories with one or more Van der Pol as an obstacles. We proposed and verified the results of the method to make the embedding chaotic mobile robot to avoid with the chaotic trajectory in any plane.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 제36회 하계학술대회 논문집 D
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• pp.2852-2854
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• 2005

In this paper, we propose a method to a synchronization of chaotic mobile robots that have unstable limit cycles in a chaos trajectory surface. We assume all obstacles in the chaos trajectory surface have a VDP (Van der Pol) equation with an unstable limit cycle. The proposed methods are assumed that if one of two chaotic mobile robot receives the synchronization command, the other robot also follows the same trajectory during the chaotic robot search on the arbitrary surface.

• 한국지능시스템학회논문지
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• 제17권2호
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• pp.259-264
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• 2007

본 본문은 Arnold 방정식, Chua's 방정식과 같은 여러 종류의 카오스 회로를 이동 로봇에 내장하여 카오스 이동 로봇을 구성하고 이 카오스 이동 로봇이 어느 임의 평면을 카오스 궤적을 가지고 탐색하다가 장해물을 만나거나 근접하게 되면 장해물을 회피하는 방법과 목표물을 만나면 목표물을 집중 탐색하는 방법을 제시하고 그 결과를 검증하였다. 장해물 회피를 위해서 장해물을 고정 장해물과 BVP 모델을 이용한 은닉 장해물로 장해물을 가정하여 카오스 궤적을 가지고 회피하도록 하는 알고리즘을 개발하고 목표물 탐색을 위해서 BVP 모델을 이용하여 목표물로 가정하여 카오스 궤적을 가지고 집중적으로 탐색하도록 하는 알고리즘을 개발하고 그 결과를 검증하였으며 이에 대한 타당성을 확인하였다.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 추계 학술대회 학술발표 논문집
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• pp.110-113
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• 2003

In this paper, we propose that the chaotic behavior analysis in the mobile robot of embedding Arnold equation with obstacle. In order to analysis of chaotic behavior in the mobile robot, we apply not only qualitative analysis such as time-series, embedding phase plane, but also quantitative analysis such as Lyapunov exponent in the mobile robot with obstacle. In the obstacle, we only assume that all obstacles in the chaos trajectory surface in which robot workspace has an unstable limit cycle with Van der Pol equation.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 추계 학술대회 학술발표 논문집
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• pp.5-8
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• 2003

In this paper, we propose that the chaotic behavior analysis in the mobile robot of embedding Chua's equation with obstacle. In order to analysis of chaotic behavior in the mobile robot, we apply not only qualitative analysis such as time-series, embedding phase plane, but also quantitative analysis such as Lyapunov exponent in the mobile robot with obstacle. In the obstacle, we only assume that all obstacles in the chaos trajectory surface in which robot workspace has an unstable limit cycle with Van der Pol equation