Cooperation of Autonomous Mobile Robots for Surveillance Missions Based on Hyperchaos Synchronization

In this paper, a novel collaboration scheme of autonomous mobile robots, which is based on chaos synchronization with application to complete and fast coverage of the whole workspace, is presented. Each one of the mobile robots is controlled by the simplest four-dimensional hyperchaotic Lorenz-type system, producing an unpredictable trajectory. When multiple robots are employed for faster and more complete coverage, effective cooperation can be achieved by synchronizing these chaotic motions. For this reason, the nonlinear open loop controller to target the synchronization state of chaotic oscillators is adopted. Computer simulation illustrates that the proposed synchronized chaotic robots improve the efficiency of the non-synchronized robots in finishing faster the same coverage work area.