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
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
收藏
页码:27 / 39
页数:13
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