Hanging around and wandering on mobile robots with a unique controller

摘要

Patrolling and wandering are two robotics usefulrnbehaviours to implement, among others; cleaning, surveillancernor exploration tasks. This paper presents an approach torngenerate these behaviours using the Braitenberg vehicle 2b.rnAfter introducing a mathematical model of such vehicles, thernresulting trajectories are analysed. Since the model is a non-linearrndifferential equation, attractors appear in the robot’s workspace,rnin contrast with the random walks usually generated by otherrnwander implementations.