Experimental Kinematic Comparison of Behavioral Approaches for Mobile Robots

An experimental comparison among the main behavioral control techniques for autonomous mobile robots is presented in this paper. The behavioral algorithms tackle the problem in a similar way: they decompose the mission planning of the robot in simple tasks; each task is then approached independently from the others and, at the end, the behavioral algorithms arrange the tasks’ output to give an univocal motion command to the robot. The algorithms differ mainly in the latter point: the way they manage the output of the tasks. Three of these approaches have been implemented on the autonomous mobile robot Khepera II to show the main differences in a practical case. Copyright c ©2005 IFAC