Identifying Chaotic Dynamics in IoT-Based Robot Navigation Using New Chaotic Jerk Models: Development and Experimental Validation

Abstract

In this paper, we present a New Chaotic Jerk Model (NCJM) with a single equilibrium point for identifying chaotic dynamic behavior in an IoT-based Mobil Robot Navigation (MRN) system. Initially, we analyze the NCJM using equilibrium point analysis and the RK4 method. To further understand the dynamic behavior of the NCJM, we develop Lyapunov Exponential (LE) analyses and Bifurcation Diagrams (BD). The main finding of this study is that the NCJM exhibits both chaotic and periodic behaviors. The primary goal of this research is to create a kinematic model and design a mobile robot control system using the NCJM. Additionally, we design mobile robot hardware to test the effectiveness of the control system, utilizing an Arduino Uno. We analyze and compare the robot control through numerical simulations and experimental results, demonstrating the practical applicability and performance of the proposed system.