The quantitative evaluation of unmanned ground vehicles is difficult. For this problem a quantitative analysis method based on chaos theory is proposed. The ideal trajectory of unmanned ground vehicles is designed applying the five order polynomial method, and the deviation time series are obtained by calculating the deviation of the actual trajectory and the ideal trajectory. Then the phase space of the deviation time series is reconstructed based on C-C method. The Lyapunov exponent of the deviation time series is calculated which the quantitative presentation of unmanned ground vehicles trajectory is. The quantitative presentation of unmanned ground vehicles trajectory of obstacle avoidance is achieved. The phase space of the deviation time series of obstacle avoidance is reconstructed. The Lyapunov exponent of obstacle avoidance is positive which is characterized the chaos of the unmanned ground vehicle and the speed of convergence to the steady state. Experimental results show that the quantitative analysis method based on chaos theory for unmanned ground vehicles trajectory is feasible and effective.
SUN Yang
,
XIONG Guangming
,
CHEN Huiyan
,
JIANG Yan
,
GONG Jianwei
. Quantitative Analysis of Unmanned Ground Vehicles Trajectories Based on Chaos Theory[J]. Journal of Mechanical Engineering, 2016
, 52(2)
: 127
-133
.
DOI: 10.3901/JME.2016.02.127
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