Map planning in planes with straight and curved borders using chaotic dynamics

Map planning is the creation of a map while a robot or object is moving throughout a specified region. In this thesis, map planning is performed for planar regions in the forms of squares, rectangles, and circles. Regions containing obstacles in different forms are also considered. The rotation angle of a mobile robot in the map planning process is determined by means of chaotic solutions of systems of differential equations such as the Lorenz system, Rössler system, Duffing oscillator, and a hyperchaotic system. The rotation angle is chosen as one of the coordinates of the chaotic solutions. Region covering speeds for different chaotic systems are compared. To the best of our knowledge, this is the first time in the literature that map planning is performed for planar regions with curved borders.