ImpactU Versión 3.11.2 Última actualización: Interfaz de Usuario: 16/10/2025 Base de Datos: 29/08/2025 Hecho en Colombia
Análisis de un esquema de control de comportamientos basado en sub-espacios nulos para robots móviles Analysis of the null-space-based behavioral control for autonomous robotic systems
In this paper, a simulation analysis of the Null-Space- Based Behavioral Control (NSB) for mobile robots is presented (1). The approach divides a complex problem in several simpler tasks (behaviors) which are sorted by priority and combined in such a way that a lower priority task is projected into the null-space (kernel) of the higher priority one. The simulation performed includes: i) a geometric approach to activate the obstacle avoidance task; and ii) system velocities and obstacle avoidance task activation are analyzed.
