An Investigation on Patrol Robot Coverage Performance Based on Chaotic and non Chaotic Guiding...

7/30/2019 An Investigation on Patrol Robot Coverage Performance Based on Chaotic and non Chaotic Guiding Signals

1/17

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0>=

Clp mvlbp calbj Pvblybip cal Ka}vlbj ag Mloclmmvclo*Dblbomdmlp * ' B~~jcm` Yicmlimy ' Pmihlajaocmy

hpp~;!!,P}Mlov,iad* hpp~;!!oa,pa!Vmymbvih

Bl Clwmypcobpcal al ^bpvaj Vafap Iawmvbom ^mvgavdblim Fbym` al

Ihbapci bl` lal Ihbapci O}c`clo Ycolbjy

Byhvbg Blbv b+bl` Hm`c Ehbddbvc b

b@m~bvpdmlp ag Iad~}pmv Mloclmmvclo* Gbi}jps ag Iad~}pmvy bl` Clgavdbpcal Pmihlajaos* Pbcg

]lcwmvycps* YB]@CB BVBFCB

B V P C I J M C L G A B F Y P VB I P

Bvpcijm hcypavs;

Vmimcwm` 6> K}js 6>22

Vmimcwm` cl vmwcym` gavd

>8 Ym~pmdfmv 6>22

Biim~pm` >3 Ym~pmdfmv6>22

Bwbcjbfjm aljclm

26 Ym~pmdfmv 6>22

Emsav`y;

Dafcjm vafap*

ihbapci dapcal*

ihbapci dafcjm vafap*

Ih}by icvi}cp*

clypbfjm gai}y,

Cl yadm ~vbipcibj b~~jcibpcaly ag phm dafcjm vafap* cp cy

mx~mipm` pa mly}vm phm g}jjmyp iawmvbom ag b imvpbcl bvmb cph av

cpha}p afypbijm bwac`blim, Phcy ~b~mv yhay phbp faph ihbapci

bl` lal ihbapci ycolbjy ibl fm b`wblpboma}y gav ~vawc`clo oaa`iawmvbom ~mvgavdblim, A}v yp}`s clij}`my* cl b``cpcal pa

~bvbdmpmvy b`k}ypclo bl` db~~clo phm b~~va~vcbpm ihbapci

wbvcbfjmy pa vafap/y eclmdbpci wbvcbfjmy* b iad~bvcyal ag phm

iawmvbom ~mvgavdblim omlmvbpm` fs phvmm `cggmvmlp fmhbwcavy ag

Ih}by icvi}cp, Phmym fmhbwcavy clij}`m bl clypbfjm gai}y bl` pa

ihbapci ycolbjy hbwclo yclojm yivajj bl` `a}fjm yivajj yhb~m` ~hbym

~avpvbcpy vmy~mipcwmjs,

Ialpvbvs pa b iaddaljs hmj` fmjcmg* b lal$ihbapci fmhbwcav

ibl jmb` pa omlmvbpm iad~jmx pvbkmipavcmy ag b dafcjm vafap bl` pa

~vawc`m fmppmv iawmvbom ~mvgavdblim, Y}ih fmhbwcav cy bl clypbfjm

gai}y hcih cy b vm~mjjmv* afpbclm` fs }yclo b ~bvpci}jbv ~bvbdmpmvymp ag Ih}by icvi}cp,

6>22 Clpmv lbpcalbj Pv blybipc al Ka}vlbj ag Mloclmmvclo* Dblbomdmlp * '

B~~jcm` Yicmlimy ' Pmihlajaocmy, Yadm Vcohp y Vmymvwm` ,

2, Clpva`}ipcalIhbay cy alm ag phm dsypmvca}y ~hmladmlb mwmv `cyiawmvm` cl phm fmhbwcav ag laljclmbv

`slbdcibj ysypmdy, Y}ih ~hmladmlal hcih cy hcohjs ymlycpcwm pa clcpcbj ial`cpcaly bl`

6>22 Clpmv lbpcalbj Pv blybipcal Ka}v lbj ag Mloclmmvclo* Dblbomdmlp * ' B~~jcm` Yicmlimy ' Pmihlajaocmy,


2/17

0>7 Byhvbg Blbv bl` Hm`c Ehbddbvc

hb~~mly mwml cl `mpmvdclcypci ysypmdy hby fmml yp}`cm` `mm~js cl ymwmvbj ~hsycibj bl`

yaicajaocibj gcmj`y* phml fmiadclo b d}jpc`cyic~jclbvs cyy}m,

B vafap gajjaclo b ihbapci ~bph* omlmvbpm` fs phm Bvlaj`y mr}bpcal* by clpva`}im` gav phm

gcvyp pcdm cl (Lbebd}vb mp bj,* 6>>2* Ymeco}ihc* mp bj,* 2333#, Cl aphmv yp}`cmy cp hby fmml

vm~avpm` phbp Ih}by ~bppmvly bvm davm y}cpbfjm pa ihbapci vafapy gav `cggmvmlp vmbyaly lbdmjs

phm ja iayp* phm bwbcjbfcjcps bl` phm jbvomyp iawmvbom bvmby (Kblyvc mp bj,* 6>>0* Yaavbeyb* mp bj,*

6>2>#,

Cl dbls b~~jcibpcaly* ialpvaj ag dafcjm vafapy `mycolm` pa ~mvgavd y~micgci pbyey bvm

omlmvbpm` fs ihbapci ycolbjy (Lbebd}vb mp bj,* 6>>2* Ymeco}ihc mp bj,* 2333* Kblyvc mp bj,* 6>>0*

Yaavbeyb mp bj,* 6>2>* Dbvpcly$Gcjha* 6>>0* Dbvpcly mp bj,* 6>>?* ^bjbicl* 6>>0* Cyjbd mp bj,*

6>>=* Lmhd{a* 6>>9#,

Phm dbcl ~}v~aym ag a}v yp}`s cy pa gcl` a}p phm hcohmyp ~mvgavdblim iawmvbom bvmby gav

`cggmvmlp ympy ag Ih}b icvi}cp ~bvbdmpmvy, Cy ihbapci ycolbj cy b }lcr}m bjpmvlbpcwm pa mly}vm

dbxcd}d bl` gbyp iawmvbom bvmby1 Bvm phmvm bls lal$ihbapci ~bppmvly phbp ibl bihcmwm phm

ybdm iawmvbom ~mvgavdblimy1 Phmym bvm bdalo phm r}mypcaly phbp vm~vmymlp phm dbcl cyy}m ag

phcy ~b~mv,

Pa ~mvgavdblim cl`mxmy bvm }ym` pa mwbj}bpm phm iawmvbom bvmby ag phm ihbapci dafcjm

vafap* lbdmjs b ~mvgavdblim cl`mx e vm~vmymlpclo b vbpca ag bvmby phbp phm pvbkmipavs ~byymy

phva}oh awmv phm papbj aveclo bvmb bl` bl mwmllmyy cl`mx M hcih vmgmvy cl omlmvbj pa ha

ijaym cl l}dfmvy mbih y~micmy cl bl mlwcvaldmlp bvm, Cl a}v ibym yp}`s phm vafap avey~bim cy

y~jcp clpa ga}v r}bvpmvy hcih vm~vmymlp phm ya ibjjm` y~micmy,

Lap aljs jbvom iawmvbom bvmby bvm `mycvbfjm cl imvpbcl b~~jcibpcaly ag dafcjm vafap* f}p bjya

iawmvbom y~mm` bl` mwmlp}bjjs phm yhavpmyp ~bph pvbwmjm` fs phm vafap, Phm iad~jmxcps ag

ihbapci dapcal cy clivmbym` fs phm d}jpc~jm vmgjmipcaly ag phm vafap pvbkmipavs al phm avey~bim

fa}l`bvcmy bl` afypbijmy,

Cl phcy ~b~mv m vmypvcip a}v yp}`s pa omlmvbpm pvbwmjclo ~bphy gvad Ih}by icvi}cp ypbpm

wbvcbfjmy bl` pa ialyc`mv b vmipblo}jbv avey~bim cpha}p afypbijmy,

Jbvom iawmvbom bvmby bvm `mycvbfjm gav dbls b~~jcibpcaly y}ih by vafapy `mycolm` gav


3/17

+Iavvmy~al`clo b}ph av ( Byhvbg Blwbv#, M$dbcj b``vmyy; byhvbgdblbv3>Nsbhaa,iad, 6>22Clpmvlbpcalbj Pvblybipcal Ka}vlbj ag Mloclmmvclo* Dblbomdmlp* ' B~~jcm` Yicmlimy 'Pmihlaj aocmy, Waj}dm 6 La,0, CYYL 6668$387>, mCYYL 23>7$3706, Aljclm Bwbcjbfj m bph p p ~ ; ! ! P}Mlov ,iad! W>6! 0>=$062,~`g

0>?

yibllclo ag }lelal avey~bimy cph fav`mvy bl` fbvvcmvy ag }lelal yhb~m* by cl ~bpvaj gav

mx~javclo bl }lelal dclm$gcjjm` pmvvbcl av ijmblclo ~}v~aymy, Phm Ih}by ~bppmvl cy phm

dayp clpmvmypclo alm bdalo aphmv ibl`c`bpm/y ~bppmvly `}m pa cpy jbvomyp iawmvbom bvmby* ja

iayp* bl` mbym gav cd~jmdmlpbpcal (Yaavbeyb mp bj,* 6>2>#, Bcdclo pa g}jgcjj phm vmr}cvmdmlpy ag

hcoh iawmvbom iamggcicmlp bl` hcoh mwmllmyy cl`mx ag b y~micgcm` bvmb ivayym` gbv bl` c`m

mvvbpcibjjs fs phm dafcjm vafap* m gai}y a}v ave al clwmypcobpcal ag Ih}b/y icvi}cp ~bvbdmpmvy

ympy bl` phm b~~va~vcbpm db~~clo ag phm ypbpm wbvcbfjmy pa vafap/y eclmdbpci wbvcbfjmy bl`

iad~}pm phm ~mvgavdblim cl`mxmy,

Yadm mx~mvcdmlpbj bl` phmavmpcibj yp}`cmy hbwm gai}ym` al phm ihbapci dapcal ag phm vafap

cpha}p ialyc`mvclo phm iawmvbom ~mvgavdblim (Ymeco}ihc mp bj,* 2333* Ihblwmih* 6>>7*

Dbvpcly mp bj,* 6>>7# hmvm by cl aphmv yp}`cmy* cp hby fmml vm~avpm` phbp b jbvom iawmvbom bvmb cy

bdalo phm dayp cd~avpblp ~mvgavdblimy phbp dbs ihbvbipmvc{m phm dafcjm vafap dapcal (Kblyvc

mp bj,* 6>>0#,

Phm ~b~mv ypv}ip}vm cy by gajjay; Phm lmxp ymipcal ~vmymlpy yadm omlmvbj vmdcl`mvy bfa}p

phm Ih}by icvi}cp bl` phm dafcjm vafap da`mj, Ymipcal 9 cy `m`cibpm` pa `myivcfm phm

dmpha`ajaos hcih clij}`my phm clpmovbpcal ag Ih}by icvi}cp mr}bpcaly pa dafcjm vafap da`mj*

bl` phm ~mvgavdblim ivcpmvcb pa fm b~~jcm`, Ymipcal 0 cy vmymvwm` pa phm ycd}jbpcal vmy}jpy,

Gclbjjs ymipcal = ialij}`my phcy ~b~mv,

Gco}vm 2; Mr}cwbjmlp Ih}by icvi}cp,


4/17

0>8 Byhvbg Blbv bl` Hm`c Ehbddbvc

6, Fbieova}l`6,2 Ih}b/yicvi}cp

Phm Ih}by icvi}cp cy ag clpmvmyp pa laljclmbv yicmlpcypy gvad `cggmvmlp `cyic~jclmy* cp

clij}`my pa ib~bicpavy* alm cl`}ipblim b jclmbv vmycypav bl` b lal$jclmbv vmycypav elal by

Ih}by `ca`m* ymm Gco}vm 2* (Jmal* 6>>?#,

Gco}vm 6; Ih}b/y `ca`m C$W ihbvbipmvcypci,

Elaclo phm Ih}b/y ca`m C$W ~cmimcym$jclmbv ihbvbipmvcypci ocwml fs Gco}vm 6* hmvm `mlapmy phm yja~m ag phm dc``jm ymodmlp bl` `mlapmy phm yja~m ag phm pa a}pmv ymodmlpy*phm lal$jclmbv ~bvp ag phm icvi}cp ibl fm yajwm` fs phm gajjaclo ysypmd ag mr}bpcaly;

*

CLJ4 (2# *

Phm ypbpm y~bim mr}bpcaly `myivcfm phm vmjbpcaly fmpmml phm ib~bicpav

wajpbomy * phm cl`}ipblim i}vvmlp bl` cpy `mvcwbpcwmy, Phm iad~bip gavd ag phmymmx~vmyycaly cy;


5/17


0>3

(6#Phm Icvi}cp fmhbwcav cy phml `myivcfm` fs phm gajjaclo `cggmvmlpcbj ysypmd;

> > >

>> (9#

> > >

>>

(0#

> > >

>> (=#

Phm ~hbym pvbkmipavcmy bvm afpbclm` fs yajwclo phm av`clbvs `cggmvmlpcbj mr}bpcaly (A@M#

cl phvmm `cggmvmlp vmocaly }yclo bl b`mr}bpm l}dmvcibj dmpha` y}ih by Gavbv` M}jmv (GM#,

Phm GM dmpha` ypbpmy phbp;

* (7#_hmvm Xl%2 cy phm yaj}pcal ag phm A@M bp pcdm pl%2* Xl cy phm i}vvmlp wbj}m* bl` h cy phm ypm~$yc{m,

]yclo (7# pa yajwm (6# m afpbcl;

(?#

6,6 Phmdafcjmvafapda`mjPhm vafap cy y}~~aym` pa a~mvbpm al b havc{alpbj ~jblm cph b dapcal `myivcfm` cl pmvdy ag


6/17

02> Byhvbg Blbv bl` Hm`c Ehbddbvc

jclmbv wmjaicps w(p# bl` `cvmipcal (p#* `myivcfclo bl clypblpblma}y jclmbv dapcal ag phm dm`c}d

~aclp ag phm hmmj bxcy bl` b vapbpcalbj dapcal (vapbpcalbj wmjaicps (p## ag phm vafap fa`s awmvphcy ybdm ~aclp,Phm omadmpvs ag phm dafcjm vafapy dapcal al Ibvpmycbl ~jblm cy ocwml clGco}vm 9,

Gco}vm 9; Omadmpvs ag phm vafap dapcal al Ibvpmycbl ~jblm,

Phm dbphmdbpcibj da`mj ag phcy dapcal ialyc`mvy pa ialpvaj wbvcbfjmy (w*# bl` phvmm

ypbpm wbvcbfjmy; phm vafap ~aycpcal bl` avcmlpbpcal (xv(p#*sv(p#* (p##;

(8#

9, Dmpha`ajaos9,2 ClpmovbpcalagphmIh}bymr}bpcal

Cl av`mv pa clpmovbpm phm Ih}b/y icvi}cp clpa phm ialpvajjmv ag phm dafcjm vafap* m ialyc`mv

phm gajjaclo ypbpm wbvcbfjmy;


7/17


022

* (3#Gvad mr}bpcal (6# phm ymp ag mr}bpcaly ag Ih}b/y icvi}cp fmiadm;

(2>#

Ialymr}mlpjs* phm ypbpm mr}bpcal ag phm ihbapci dafcjm vafap bgpmv clpmovbpclo phm ymp ag

mr}bpcaly ag Ih}b/y icvi}cp cph phm dbphmdbpcibj da`mj ag phm dafcjm vafap mr}bpcal (8#* m

afpbcl phm gajjaclo ysypmd ag mr}bpcaly;

(22#

Phm iavvmy~al`clo db~~clo ~bvbdmpmvy gvad 9$@ ihbapci icvi}cp clpa 6$@ alm cy by

gajjay;

Pbfjm 2; Db~~clo ihbapci wbvcbfjmy pa vafap/y eclmdbpci wbvcbfjmy* hmvm iavvmy~al`y pa phm

avcmlpbpcal blojm ag phm dafcjm vafap,

Ysypmd

Ibym 2 Ibym 6 Ibym 9

9,6 Mwbj}bpcalivcpmvcbPhm mwbj}bpcal ivcpmvcb bvm ymp biiav`clo pa phm b~~jcibpcal ~}v~aym, Yclim m a}j` jcem pa

}ym phm vafap cl bl`mvclo bva}l` bl bvmb ag la db~y* phm ihbapci pvbkmipavs yha}j` iawmv phm

mlpcvm bvmby ag ~bpvajjclo by d}ih by ~ayycfjm, Cl phm gajjaclo pa ~mvgavdblim ivcpmvcb bvm pa

fm ialyc`mvm` pa mwbj}bpm phm iawmvbom vbpm ag phm ihbapci dafcjm vafap* lbdmjs phm

~mvgavdblim cl`mxEbl` phm mwmllmyy cl`mxM,


8/17

026 Byhvbg Blbv bl` Hm`c Ehbddbvc

9,6,2 B ~mvgavdblim cl`mx E vm~vmymlpclo b vbpca ag bvmby phbp phm pvbkmipavs~byymyphva}ohav}ym`y~bim(B}#*awmvphmpapbjaveclobvmb(Bp#

(26#Ycdcjbvjs* jmp }y ialyc`mv b vmipblo}jbv yhb~m` bvmb* (ymm Gco}vm =#* phm papbj bvmb ibl fm

y~jcp clpa ga}v r}bvpmvy* `mlapm` R42* 6* 9* 0, Gav mbih r}bvpmv phm r}blpcpbpcwm dmby}vmdmlp ag

phm pvbkmipavs ibl fm mwbj}bpm` fs }yclo phm gajjaclo mr}bpcal;

(29#ER fmclo phm ~mvgavdblim cl`mx ag phm R

ph r}b`vblp* B}R cy phm bvmb ivayym` fs phm

pvbkmipavs cl phm Rph r}b`vblp, Cl a}v ibym* m hbwm

(20#

Gco}vm =; ^bvpcpcal ag phm y~micgcm` bvmb,

9,6,6 Bl mwmllmyy cl`mx M vmgmvy pa ha ijaym cl l}dfmvy mbih y~micmy cl blmlwcvaldmlpbvm,Phmmwmllmyy cl`mxiblfmvm~vmymlpm` cla}vycp}bpcalfs(K,Lciajby*mpbj,*6>>9#;

2 (2=#_hmvm y; cy phm l}dfmv ag y~micm* (cl phcy ibym y 4 0 R}bvpmvy#, M cy ialypvbclm` fmpmml >

$2= $2> $= > = 2> 2= 6> 6=$9>

$6>

$2>

>

2>

6>

sUd

T

xUdT

R42R46

R49 R40

B}2

B}0

B}6

B}9


9/17


029

bl` 2, Phm jmyy wbvcbpcal cl iawmvclo phm bvmby fmpmml phm y~micmy* phm hcohmv M cy,

0, Ycd}jbpcalVmy}jpyPhm icvi}cp ycd}jbpcal ag phm Ih}by icvi}cp* clpva`}im` cl ymipcal 6 by f}cjp, Phm wbj}my

}ym` gav phm ycd}jbpcal mvm phm gajjaclo;

Pbfjm 6; Ih}by icvi}cp ~bvbdmpmv ymppcloy,

I2 I6 J Wi2(># Wi6(># CJ(># o2 o6 F^2 h V

0=> ~G 2,=lG 2dH 2>$= >W >B 2!29=8 2!6070 >,220 2>$? >,2=$6 E

Phvmm `cggmvmlp fmhbwcavy; Clypbfjm Gai}y* yclojm yivajj* bl` `a}fjm yivajj pvbkmipavcmy hb`

fmml afymvwm` fs ihbloclo phm wbj}m ag V gvad (2=>$6>>># ,

Vmy}jpy ~vmymlpm` cl phcy ~b~mv bcd pa ~}p clpa mwc`mlim phbp mwml cph b lal$ihbapci

pvbkmipavs m ibl afpbcl oaa` iawmvbom ~mvgavdblimy, Gav ycd~jcicps* bl bvmb ag 6>d x 6>d cy

}ym` by b avey~bim iawmvbom pvbkmipavs cl iad~}pmv ycd}jbpcal, Phm vafap dawmy by cg cy

vmgjmipm` fs phm fa}l`bvs &dcvvav db~~clo&,

Phm clcpcbj ial`cpcaly mvm mypbfjcyhm` by cl Pbfjm 6 bl` phm ~vaovbd by ymp pa v}l b papbj

ag l49>>> cpmvbpcaly (gav mxbd~jm# bl` vafap y~mm` cy 2d!y, Ycd}jbpcaly mvm ~mvgavdm` gav b

ymp ag vmycypavy wbj}my V cl av`mv pa vmwmbj phm fmyp wbj}my ag ~mvgavdblim cl`mx E bl` phm

mwmllmyy cl`mx M, Phm ycd}jbpcal vmy}jpy gav phm ibymy 2* 6 bl` 9* `myivcfm` cl Pbfjm 2 bvm

ocwml cl Pbfjmy 9* 0 bl` = vmy~mipcwmjs, Lmwmvphmjmyy* yadm cd~avpblp vmy}jpy bvm pa fm

}l`mvjclm` pa ~aclp a}p phm gbip phbp b lal ihbapci pvbkmipavs iavvmy~al`clo pa bl clypbfjm gai}y

ocwml cl Gco}vm 7 ibl jmb` pa b hcohmv bl cd~avpblp iawmvbom vbpm, Y}ih bppvbipav* afpbclm` gavV4 0>> , Phm ~mvgavdblim cl`mxmy bvm mwml hcohmv phbl phaym afpbclm` gav ihbapci

pvbkmipavcmy (E488,70-* M473,6-#,

B `a}fjm yivajj bppvbipav (Gco}vm ?# by afpbclm` gav V4 20>> , Phm vafap pvbkmipavs

omlmvbpm` fs y}ih ihbapci bppvbipav hby b ~mvgavdblim cl`mx E487,?7- bl` bl Mwmllmyy cl`mx

M470,70-,


10/17


Pbfjm 9; Ibym 2 bl` v}l pcdm gav l49>>>,

Vmycypblim

VUT

- ag

E

- ag

R42

- ag

R46

- ag

R49

- ag

R40

- ag

M

Ih}b/y ~bppmvl

2=> 86,=9 30,87 ?3,62 ?2,>2 8=,>0 ==,=3 Clypbfjm gai}y6>> ?0,00 =8,?2 7?,00 32,?= ?3,87 93,79 Clypbfjm gai}y

9>> 80,3> 3=,70 86,=7 ?0,?8 87,79 7>,88 Clypbfjm gai}y

0>> 88,70 32,>2 88,99 87,9> 88,32 73,6> Clypbfjm gai}y

=>> 73,?3 82,2? 08,20 ==,?3 30,>8 90,?? Clypbfjm gai}y

7>> 8>,79 86,>9 39,83 ?8,60 78,97 =2,02 Clypbfjm gai}y

?>> 89,38 82,07 8?,>0 87,08 8>,30 =?,80 Clypbfjm gai}y

8>> 8=,>> 89,90 88,=6 87,72 82,=0 7>,6? Clypbfjm gai}y

3>> 89,82 3>,76 82,=0 ??,69 8=,89 =?,?2 Clypbfjm gai}y

2>>> 80,27 ?8,88 83,6? 83,07 ?3,>= =8,7> Clypbfjm gai}y

22>> 86,8> 8=,28 86,8> 8>,0= 86,?7 =0,37 @a}fjm yivajj

26>> 7=,3> 39,63 8?,72 0>,>= 06,70 90,92 @a}fjm yivajj29>> 8>,73 73,?7 ?7,8> 36,9= 89,88 =2,96 @a}fjm yivajj

20>> 87,?7 86,72 88,73 32,>> 80,?7 70,70 @a}fjm yivajj

2=>> 82,76 ?7,09 ?2,2> 87,60 36,?> =9,06 @a}fjm yivajj

27>> 8=,?0 8=,?0 8?,38 8=,?2 89,=9 72,38 @a}fjm yivajj

2?>> 86,>8 87,89 80,97 ??,09 ?3,?> =9,0? Yclojm yivajj

28>> 8=,89 86,33 36,=9 88,07 ?3,90 76,7> Yclojm yivajj

23>> 80,00 8>,03 ?7,68 88,>7 36,36 =3,=2 Clypbfjm gai}y

6>>> ?7,26 3>,60 78,09 76,83 86,30 06,97 Clypbfjm gai}y

Pbfjm 0; Ibym 6 bl` v}l pcdm gav l4 9>>>,

Vmycypblim

VUT

- ag

E

- ag

R42

- ag

R46

- ag

R49

- ag

R40

- ag

M

Ih}b/y ~bppmvl

2=> 87,>6 8=,88 83,9> 87,2> 86,8> 76,?2 Clypbfjm gai}y

6>> ?7,76 76,>8 ?7,93 36,?> ?8,68 09,9= Clypbfjm gai}y

9>> 7=,86 37,69 ?8,3= 93,?2 08,02 96,>8 Clypbfjm gai}y

0>> 89,=9 83,82 ??,72 ??,68 83,06 =?,6? Clypbfjm gai}y

=>> 8=,7= 86,09 89,=2 88,3> 8?,?7 72,8= Clypbfjm gai}y

7>> 8?,>0 80,>8 87,89 3>,>7 8?,62 7=,69 Clypbfjm gai}y

?>> 80,0= 8=,28 8?,06 89,7? 82,=9 =8,3> Clypbfjm gai}y

8>> 86,67 8?,>0 8>,== ??,=3 89,8= =9,8? Clypbfjm gai}y3>> 8=,2? 82,>= 83,2> 83,63 82,69 7>,89 Clypbfjm gai}y

2>>> 8>,97 32,?7 8?,83 73,9? ?6,06 =>,3? Clypbfjm gai}y

22>> ?3,76 83,60 3>,02 73,87 78,37 03,=0 @a}fjm yivajj

26>> 80,6= 87,78 ?8,8= 82,78 83,8> =8,77 @a}fjm yivajj

29>> 86,?2 39,03 89,29 ?6,=3 82,70 ==,77 @a}fjm yivajj

20>> 82,>= ?>,=> ?=,=8 36,2= 8=,3= =6,2= @a}fjm yivajj

2=>> 87,9> 8=,23 8=,9? 8?,02 8?,66 79,99 @a}fjm yivajj

27>> 80,82 82,36 ?8,8> 8?,=0 32,>> 7>,>8 @a}fjm yivajj

2?>> 89,60 8?,66 82,3= ?3,90 80,0= =7,>3 Yclojm yivajj

28>> 80,3> 82,?2 8?,=0 88,22 86,6= 7>,>7 Yclojm yivajj

23>> 80,6= ?7,82 ??,20 32,?2 32,96 =3,6= Clypbfjm gai}y6>>> ?7,?6 3>,82 73,93 79,=9 89,2= 09,=0 Clypbfjm gai}y


11/17


02=

Pbfjm =; Ibym 9 bl` v}l pcdm gav l49>>>,

B yclojm yivajj bppvbipav ocwml cl Gco}vm 8 by afpbclm` gav V4 28>>, Phm iavvmy~al`clo

vafap pvbkmipavs ~ayymyymy bjya oaa` iawmvbom ~mvgavdblimy5 (E48=,89-* M476,7-#,

Phm ycp}bpcaly `myivcfm` bfawm iavvmy~al`clo pa phvmm `cggmvmlp ~hbym ~avpvbcpy bvm

mxpvbipm` gvad Pbfjm 6 cl hcih phm vafap (p# avcmlpbpcal cy * (ibym2#, Ph}y* phmiad~jmxcps ag phm dafcjm vafap dapcal ibl vmy}jp mcphmv ag b ihbapci pvbkmipavs vmgjmipm` al phm

mxpmvlbj fa}l`bvcmy* av b lal$ihbapci pvbkmipavs hcih }l`mvoamy d}jpc~jm vmgjmipcaly al y}ih

fa}l`bvcmy av afypbijmy, Cp cy avph lapclo phbp phm fmyp ~mvgavdblimy cl ibym 2 bvm afpbclm` gav

V40>>, Phm iavvmy~al`clo ~hbym ~avpvbcp cy phbp ag bl clypbfjm gai}y av b vm~mjjmv,

Cl ibym 6* phm fmyp iawmvbom ~mvgavdblimy bvm afpbclm` gav V47>>, Phm ~hbym ~avpvbcp cy

phbp ag bl clypbfjm gai}y av b vm~mjjmv* E48?,>0-* M47=,69-,

Cl ibym 9* phm ~mvgavdblim cl`mx E bl` phm mwmllmyy cl`mx M bvm dbxcd}d gav V4 ?>>,

Phm ~hbym ~avpvbcp cy phbp ag bl clypbfjm gai}y av b vm~mjjmv* E489,83-* M4=?,?2-,

Vmycypblim

VUT

- ag

E

- ag

R42

- ag

R46

- ag

R49

- ag

R40

- ag

M

Ih}b/y ~bppmvl

2=> 82,2? ?9,00 82,96 83,9> 8>,7= =2,?2 Clypbfjm gai}y

6>> ?7,?9 39,=> ?7,=> 72,72 ?=,92 09,?7 Clypbfjm gai}y

9>> ?=,36 8=,98 39,6? 7=,6? =3,?= 09,9> Clypbfjm gai}y

0>> 8>,83 83,7? 80,92 ?6,=> ??,2> =2,63 Clypbfjm gai}y

=>> ?9,39 30,6? ?>,72 =7,>6 ?0,8> 93,23 Clypbfjm gai}y

7>> ?8,7= 32,=8 82,>7 77,7= ?=,?3 0?,>> Clypbfjm gai}y

?>> 89,83 8>,62 8?,66 8?,=3 8>,=7 =?,?2 Clypbfjm gai}y

8>> 89,67 ??,89 83,7> 88,79 ?7,38 =7,=3 Clypbfjm gai}y

3>> 77,29 06,08 02,29 88,33 32,39 90,90 Clypbfjm gai}y

2>>> 8>,88 89,?? ?2,79 ??,03 3>,79 =2,9? Clypbfjm gai}y

22>> ??,?> 88,>> 79,>9 77,73 39,2> 07,72 @a}fjm yivajj26>> ?9,29 8=,90 3>,93 7>,>? =7,?2 98,9? @a}fjm yivajj

29>> ?0,=? 30,77 8>,=6 =7,=8 77,=2 0>,87 @a}fjm yivajj

20>> ?7,=? 78,?= ?2,93 80,70 82,=2 02,87 @a}fjm yivajj

2=>> 8>,97 89,92 8=,97 ??,96 ?=,07 03,72 @a}fjm yivajj

27>> ?9,>3 78,27 ==,02 ?=,73 39,2> 9?,== @a}fjm yivajj

2?>> ?7,93 ??,37 ?3,?> ?0,?8 ?9,20 0>,?8 Yclojm yivajj

28>> 00,82 ?>,=2 ==,07 69,0= 63,86 8,>8 Yclojm yivajj

23>> ?7,07 80,67 ?=,=7 73,>9 ?7,38 02,90 Clypbfjm gai}y

6>>> 09,?8 =>,== 68,?> 90,?9 72,2? 2,>3 Clypbfjm gai}y


12/17


Gco}vm 7; Ih}b/y ~bppmvl (clypbfjm gai}y#* bl` phm iavvmy~al`clo pvbkmipavs bp V40>>* /ibym 2/,

Gco}vm ?; Ih}b/y ~bppmvl (`a}fjm yivajj#* bl` phm iavvmy~al`clo pvbkmipavs bp V420>>* /ibym 2/


13/17


02?

Gco}vm 8; Ih}b/y ~bppmvl (yclojm yivajj#* bl` phm iavvmy~al`clo pvbkmipavs bp V428>>* /ibym 2/,

Pa clwmypcobpm phm vmy}jpy bp wbvca}y v}lpcdm* m ~mvgavdm` phm gajjaclo ypm~y;

Phm vafap o}c`m` Ih}b/y ~bppmvly (clypbfjm gai}y* yclojm yivajj* bl` `a}fjm yivajj#*vmy}jpclo gvad phm phvmm `cggmvmlp ibymy bp phm y~micgcm` wbj}my ag phm vmycypav V cl mbih

ibym Pbfjm 9* Pbfjm 0* bl` Pbfjm =* bvm mjbfavbpm`,

_m mxpvbipm` phm wbj}my ag phm vmycypav V hcih ocwm dbxcd}d ~mvgavdblim cl`cimy Ebl` M cl mbih Ih}b/y ~bppmvl bl` cl mwmvs ibym,

_m ~mvgavdm` v}lpcdm vbloclo gvad l 4 2>>>$2>*>>> cpmvbpcaly (ycd}jbpcal pcdm# bpphm y~micgcm` wbj}my ag phm vmycypav V gav mbih Ih}b/y ~bppmvl vmy}jpclo cl mwmvs ibym

(ypm~ 6#* bl` phm vmy}jpy ag phm ~mvgavdblim cl`cimy E bl` M bvm vmiav`m`,

Phm vmjbpcaly ag phm vmy}jpy ag phm ~mvgavdblim cl`cimy E bl` M ag phm vafap o}c`m` Ih}b/y

~bppmvly by v}lpcdm vbloclo gvad 2>>>$2>*>>> cpmvbpcaly (ycd}jbpcal pcdm# cl ibym 2* ibym 6* bl`

ibym 9* bvm `m~cipm` cl Gco}vm 3* Gco}vm 2>* bl` Gco}vm 22vmy~mipcwmjs,


14/17


Gco}vm 3; ^mvgavdblim cl`cimy E bl` M ag phm Ih}b/y ~bppmvly wmvy}y pcdm* ibym 2,

Gco}vm 2>; ^mvgavdblim cl`cimy E bl` M ag phm Ih}b/y ~bppmvly wmvy}y pcdm* ibym 6,


15/17


023

Gco}vm 22; ^mvgavdblim cl`cimy E bl` M ag phm Ih}b/y ~bppmvly wmvy}y pcdm* ibym 9,

Gvad Gco}vmy 3$22*m ibl `m`}im phbp clypbfjm gai}y ~japy bvm fmppmv phbl blaphmv pa

~japy ag ihbay ~bppmvly (yclojm yivajj bl` `a}fjm yivajj# cl bihcmwclo fmppmv bvmb iawmvbom (phm

~mvgavdblim cl`mx E* bl` M hbwm davm ~mvimlpbom wbj}m cl wbvca}y v}lpcdm#* cl phm phvmm

y~micgcm` ibymy,

=, Ialij}ycalPhm dafcjm vafap pvbkmipavcmy omlmvbpm` fs Ih}by icvi}cp ycolbjy mcphmv ihbapci av lal

ihbapci ~mvdcpy pa mly}vm phm g}jjmyp iawmvbom ag b vmipblo}jbv avey~bim bvmb gav yadm

~bvpci}jbv ~bvbdmpmv ympy,

Phm iawmvbom ~mvgavdblim cy dmby}vm` fs pa `cggmvmlp cl`mxmy lbdmjs b ~mvgavdblim

cl`mx E vm~vmymlpclo b vbpca ag bvmby phbp phm pvbkmipavs ~byymy phva}oh bl` bl mwmllmyy cl`mx

M hcih vmgmvy pa ha ijaym cl iawmvbom mbih r}bvpmv ag b vmipblo}jbv avey~bim bvm, Phm

mlhblimdmlp pmihlcr}my ag iawmvbom ~mvgavdblim bvm ~mvgavdm` fs b`k}ypclo icvi}cp

~bvbdmpmvy* db~~clo phm b~~va~vcbpm ypbpm wbvcbfjmy pa vafap/y eclmdbpci wbvcbfjmy* cl av`mv pa

clivmbym phm iawmvbom cl`mxmy,


16/17

06> Byhvbg Blbv bl` Hm`c Ehbddbvc

Cp by yhal phbp bl clypbfjm gai}y* b lal ihbapci fmhbwcav ag Ih}by icvi}cp* cy bjya

b`wblpboma}y pa ~vawc`m oaa` iawmvbom ~mvgavdblim ag b dafcjm vafap bl` cy fmppmv phbl

blaphmv pa ihbay ~bppmvly bl` phcy cy phm dbcl ialpvcf}pcal ag phcy ave, Biiav`clo pa phcy

yp}`s alm ibl }ym ycd~jmv ycolbjy pa omlmvbpm iad~jmx pvbkmipavcmy ag dafcjm vafapy bl` pa

o}bvblpmm fmppmv ~mvgavdblimy,

7, Bielajm`omdmlpyB wmvs y~micbj phble sa} cy `}m pa Byycypblp ^vagmyyav @v, Y}~bihbc Wavb~ak~cy}p

(Phbddbybp ]lcwmvycps* Phbcjbl`# gav clycohpg}j iaddmlpy* hmj~clo ijbvcgs bl` cd~vawm phm

dbl}yivc~p,

?, Vmgmvmlimy;B, Kblyvc* E, Ejadebvl* bl` ^, Yaavbeyb, (6>>0#, G}vphmv Clwmypcobpcal al Pvbkmipavs ag

Ihbapci O}c`clo Ycolbjy Gav Vafapciy ysypmd, Cl ^vai, Clp, Ysd~, Iadd}lcibpcal '

Clgavdbpcal Pmihlajaos* 2277$22?>,

B, Kblyvc* E, Ejadebvl* bl` ^, Yaavbeyb, (6>>0#, Al Iad~bvcyal ag Bppvbipavy Gav Ihbapci

Dafcjm Vafapy cl ^vai, 9>ph Bll}, Ialg, CMMM Cl`}ypvcbj Mjmipvalciy Yaicmps* CMIAL*

9* 6=97$6=02,

B, Ymeco}ihc bl` S, Lbebd}vb, (2333#, Phm Ihbapci Dafcjm Vafap, Cl ^vai, CMMM!VYK,

Clp, Ialg, Clpmjjcomlp Vafapy bl` Ysypmdy* (2#* 2?6$2?8,

I, Ihblwmih* E, Ejadebvl* bl` ^, Yaavbeyb, (6>>7#, Iadfclm` Ihbapci Bppvbipavy Dafcjm

Vafapy,Cl ^vai, YCIM$CIBYM Clp, Kaclp Ialg,* 9>?3$9>86,

K, Lciajby mp bj, (6>>9#, B iad~bvbpcwm Blbjsycy ag Mwmllmyy Cl`mx Ymlycpcwcps, Clp, Vmwcm

Hs`vafcajaos* 88 (2#* 9$2=,

K, ^bjbicl* K, B, Ybjym* C, Wbjoblal* bl` X, Ij}b, (6>>0# F}cj`clo B Dafcjm Vafap Gav B

Gjaav$ijmblclo A~mvbpcal Cl @admypci Mlwcvaldmlpy, CMMM Pvblybipcaly alClypv}dmlpbpcal bl` Dmby}vmdmlp* =9 (=#* 20282060,

Jmal A, Ih}b, (6>>?#, Ih}b Ivi}cp, Yihajbv~m`cb* 6(2>#* 2088, J, Y, Dbvpcly$Gcjha* V, G,

Dbihb`a* V, Vaihb* bl` W, Y, Wbjm, (6>>0#

Iaddbl`clo dafcjm vafapy cph ihbay, Cl BFID Ysd~ayc}d Ymvcmy cl Dmihbpvalciy*K,I,

B`bdayec* M, H, Pbdbc* M, Wcjjblc* bl` ^, M, Dcsboc* M`yBFID* Vca `m Kblmcva*

Fvb{cj* 2* 0>07,

J,Y, Dbvpcly mp bj,* (6>>7#, Eclmdbpci Ialpvaj ag Dafcjm Vafapy Pa ^va`}im Ihbapci

Pvbkmipavcmy,BFID Ysd~ayc}d Ymvcmy cl Dmihbpvalciy* 6* 6=8$670,


17/17


062

D, Cyjbd bl` E,D}vbym, (6>>=#, Ihbapci `slbdciy ag b fmhbwcav$fbym` dclcbp}vm dafcjm

vafap; mggmipy ag mlwcvaldmlp bl` ialpvaj ypv}ip}vm, Lm}vbj Lmpavey* 28 (6#*

269200,

^, Yaavbeyb bl` E, Ejadebvl, (6>2>#, La$I^] Ihbapci Vafapy Gvad Ijbyyvaad PaIaddmvim, Cl CMMM icvi}cpy bl` ysypmdy dbob{clm* 2>(22>3#* 07$=9,

], Lmhd{a, (6>>9#, R}blpcpbpcwm Blbjsycy ag Vafap$Mlwcvaldmlp Clpmvbipcal$Pabv`y

Yicmlpcgci Dafcjm Vafapciy,Vafapciy bl` B}palada}y Ysypmdy* 00 (2#* ==78,

Y, Dbvpcly mp bj,* (6>>?#, ^bpvaj Dafcjm Vafapy bl` Ihbapci Pvbkmipavcmy, Cl dbphmdbpcibj

~vafjmdy cl mloclmmvclo* 6>>?* Bvpcijm C@72=09* 29 ~bomy,

S, Lbebd}vb bl` B, Ymeco}ihc, (6>>2#, Ihbapci Dafcjm Vafap, CMMM Pvblybipcal al

Vafapciy bl` B}padbpcal* 2?(7#* 8383>0,

@v, Byhvbg Blbv vmimcwm` hcy ^h@ `movmm cl Mjmipvalciy bl` Mjmipvcibj Iadd}lcibpcal gvad Gbi}jps ag

Mloclmmvclo* Ibcva ]lcwmvycps cl 6>>=, I}vvmlpjs* hm cy bl Byycypblp ^vagmyyav bp iajjmom ag iad~}pmvy bl`Clgavdbpcal Pmihlajaos* Pbcg ]lcwmvycps, Hcy vmymbvih clpmvmypy bvm dbcljs cl phm bvmb ag pvbieclo ysypmd*ialpvaj* bl` vafapciy,

@v, Hm`c Ehbddbvc vmimcwm` hcy ^h@ `movmm cl Mjmipvcibj Mloclmmvclo gvad Lbpcalbj Yihaaj ag Mloclmmvclo*P}lcy ]lcwmvycps cl 2333, I}vvmlpjs* hm cy bl Byycypblp ^vagmyyav bp iajjmom ag iad~}pmvy bl` Clgavdbpcal

Pmihlajaos* Pbcg ]lcwmvycps, Hcy vmymbvih clpmvmypy bvm dbcljs cl phm bvmb ag laljclmbv `slbdciy bl` phmb~~jcibpcal ag ihbay phmavs cl phm gcmj` ag iadd}lcibpcal* mjmipvci ysypmdy bl` fcaclgavdbpciy,

^mmv Vmwcm; Phcy bvpcijm hby fmml clpmvlbpcalbjjs ~mmv$vmwcmm` bl` biim~pm` gav ~}fjcibpcal

biiav`clo pa phm o}c`mjclmy ocwml bp phm ka}vlbjy mfycpm,

Date post:	04-Apr-2018
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An Investigation on Patrol Robot Coverage Performance Based on Chaotic and non Chaotic Guiding...

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