The proposed planner bases itself on the Brooks subsunction model:
BEHAVIOR 1: STOP TO THE GOAL
- If the robots is arrived to the goal, it stops.
BEHAVIOR 2: ANNUL HANDLER FORCE
- because positioning errors as regards the position of equilibrium,
the force on the handler could cause elevated value, therefore is necessary
to cancel out such forces lets to lose the attainment of the goal.
BEHAVIOR 3: GO TO GOAL
- the robot goes to the goal with constant velocity.
BEHAVIOR 4: ANNUL HANDLER FORCE
- this behavior is equal to the second, infact this velocity contribution
is add to the one of behavior 3.
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