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

被引：0
|
作者：
Gianluca Antonelli
Filippo Arrichiello
Stefano Chiaverini
机构：
[1] Università degli Studi di Cassino,Dipartimento di Automazione, Elettromagnetismo, Ingegneria dell’Informazione e Matematica Industriale (DAEIMI)
来源：
Intelligent Service Robotics | 2008年 / 1卷
关键词：
Behavioral control; Behavioral coordination; Autonomous robots;
D O I：
暂无
中图分类号：
学科分类号：
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.
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收藏
页码：27 / 39
页数：12
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