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

• DOI: 10.1007/s11370-007-0002-3
• Publication Date: 2007-03-13T08:27:47Z
• Authors: Gianluca Antonelli; Filippo Arrichiello; Stefano Chiaverini
• Keywords: Null (SQL)

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.