Control algorithm for mobile robots based on fixed-point chaotic sequences generator

The implementation method of search motion of mobile robot or group of mobile robots with incomplete or inaccurate sensor data or with failure of one or several sensors in dynamic non-determined environment is described in this paper. Ander the search motion an algorithm for environment research and search of given objects, appearances, characterized areas is considered. The scheme of motion behavior with inertial switching between search tactics developed by V.A. Nepomnyashchikh and based on generator of chaotic sequences is used for this purpose. The generator is a system with non-linear element and has at least one regime, where chaotic signals are produced. The generator has program realization on the base of logistic map. Fixed-point arithmetic is used. To verify operability the method was implemented in two different systems: computer model and real mobile robot. Used prototype of the mobile robot is compact, autonomous, tracked and equipped with on-board radio modem XBee and front collision sensors.