The null-space-based behavioral control for autonomous robotic systems

被引：129

作者：

Antonelli, Gianluca ^{[1
]}

Arrichiello, Filippo ^{[1
]}

Chiaverini, Stefano ^{[1
]}

机构：

[1] Univ Cassino, Dipartimento Automaz Elettromagnetismo Ingn Infor, Via G Di Biasio 43, I-03043 Cassino, FR, Italy

来源：

INTELLIGENT SERVICE ROBOTICS | 2008年 / 1卷 / 01期

关键词：

Behavioral control; Behavioral coordination; Autonomous robots;

D O I：

10.1007/s11370-007-0002-3

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper a new behavior-based approach for the control of autonomous robotic systems is proposed. The so-called null-space-based behavioral (NSB) control differs from the other existing methods in the behavioral coordination, i.e., in the way the outputs of the single elementary behaviors are combined to compose a complex behavior. The proposed approach is compared with the main existing approaches while two experimental case studies, performed with a Khepera II mobile robot, are reported to validate its effectiveness.

引用

页码：27 / 39

页数：13

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