Chaotic Transitions in Wall Following Robots
NATIONAL INST OF STANDARDS AND TECHNOLOGY GAITHERSBURG MD
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In this paper we examine how simple agents similar to Braitenberg vehicles can exhibit chaotic movement patterns. The agents are wall following robots as described by Steve Mesburger and Alfred Hubler in their paper Chaos in Wall Following Robots. These agents uses a simple forward facing distance sensor with a limited field of view Phi for navigation. An agent drives forward at a constant velocity and uses the sensor to turn right when it is too close to an object and left when it is too far away. For a flat wall the agent stays a fixed distance from the wall and travels along it, regardless of the sensors capabilities. But, if the wall represents a periodic function, the agent drives on a periodic path when the sensor has a narrow field of view. The agents trajectory transitions to chaos when the sensors field of view is increased. Numerical experiments were performed with square, triangle, and sawtooth waves for the wall, to find this pattern. The bifurcations of the agents were analyzed, finding both border collision and period doubling bifurcations. Detailed experimental results will be reported in the final version.
- Navigation and Guidance