The null-space-based behavioral control for mobile robots

In this paper a new behavior-based control for autonomous mobile robots is proposed and compared with the main behavioral control techniques. The behavioral algorithms share the same approach to the problem: first, the overall motion control problem is decomposed in simple tasks to be achieved by the robot; then the tasks are arranged so that a univocal motion command is given to the robot. The difference among the algorithms is mainly in the way they compose the outputs of the single tasks. Our evaluation is concern in particular in the kinematic aspect of handling those outputs.