Proceedings of the Korean Institute of Intelligent Systems Conference (한국지능시스템학회:학술대회논문집)

Korean Institute of Intelligent Systems (한국지능시스템학회)
권호 표지

chaotic behavior analysis in the mobile robot : the case of Arnold equation

  • Kim, Youngchul (Division of electronic communication and electrical engineering of Yosu National University) ;
  • Kim, Juwan (Division of electronic communication and electrical engineering of Yosu National University) ;
  • Kim, Yigon (Division of electronic communication and electrical engineering of Yosu National University)
  • Published : 2003.09.01
Download PDF
⟨ Previous Next ⟩

Abstract

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.

Keywords