Designing Nest-Fold System via Dual-Route Fractal Process and Application in Chaotic Mobile Robot

An autonomous mobile robot with chaotic navigation, named chaotic mobile robot (CMR), has shown significant potential applications for dangerous or special duties in Internet of Things. As the control source of CMR, the application of novel chaotic dynamical systems with good design flexibility, topological transitivity, and sensitivity to initial conditions, will favor analyzing the whole workplace. To this purpose, a novel dual-route fractal process (DRFP) is proposed based on Julia and advanced Julia functions, which implements the automatic design of multifolded chaotic prototype models for given seed chaotic system. In comparison with the traditional Julia fractal process, the DRFP shows significant advantage in filling in the chaotic trajectory in empty inner space, which is beneficial to design CMR with high performance. The simulation and experiment are presented to validate the design feasibility of the DFRP. Finally, a two-wheeled differential drive system coupled with the chaotic model is designed to observe its navigation performances in either open region or bounded region with obstacles.