Obstacle avoidance methods in the chaotic UAV

In this paper, we propose a method to avoid obstacles that have unstable limit cycles in a chaos trajectory surface. We assume all obstacles in the chaos trajectory surface have a Van der Pol equation with an unstable limit cycle. When a chaos UAVs meet an obstacle in an Arnold equation or Chua´s equation trajectory, the obstacle reflects the UAV. We also show computer simulation results of Arnold equation and Chua´s equation UAV chaos trajectories with one or more Van der Pol obstacles. We show that the Chua´s equation is slightly more efficient in coverage rates when two UAVs are used, and the optimal number of UAVs in either the Arnold equation or the Chua´s equation is also examined.