Title :
The null-space-based behavioral control for soccer-playing mobile robots
Author :
Antonelli, Gianluca ; Arrichiello, Filippo ; Chiaverini, Stefano
Author_Institution :
Dipt. di Automazione, Elettromagnetismo, Ingegneria dell´´Informazione e Matematica Ind., Univ. degli Studi di Cassino
Abstract :
In this paper a behavior-based approach for the control of soccer-playing mobile robots is presented. The so-called null-space-based (NSB) behavioral control differs from the other existing methods in the behavioral coordination, i.e., in the way the outputs of the single elementary behaviors are composed to yield a complex behavior. The developed approach is demonstrated in an experimental case study with a differential-drive mobile robot kicking a ball in a goal
Keywords :
cooperative systems; intelligent robots; mobile robots; multi-robot systems; behavioral coordination; differential-drive mobile robot; null-space-based behavioral control; single elementary behaviors; soccer-playing mobile robots; Control systems; Electrical equipment industry; Fault detection; Manipulator dynamics; Mobile robots; Motion control; Multirobot systems; Parallel robots; Robot kinematics; Vehicle dynamics;
Conference_Titel :
Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-9047-4
DOI :
10.1109/AIM.2005.1511183
