Análisis de un esquema de control de comportamientos basado en sub-espacios nulos para robots móviles

─ In this paper, a simulation analysis of the Null-SpaceBased 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.