A Constraint-Based Behavior Fusion Mechanism on Mobile Manipulator

A constraint-based behavior fusion mechanism is proposed. The behavior-based concept is suitable for robots in a dynamic changing environment. However, this concept suffers from two major restrictions: re-usability of the behaviors and deliberation between the behaviors. Because of this, complex tasks are still challenging for behavior-based systems. In the control of sensor-based robots, the constraint-based task specification method provides a flexible representation for a task. In this paper, these constraint equations are used as a common interface for behavior fusion. Due to this fusion ability, the intelligent behaviors concentrate on performing their own goals without worrying about the coordination with other behaviors. Thus, the complexity of the deliberate network can be reduced and becomes easier to be learned. To demonstrate this fusion mechanism, a door opening example is implemented on a mobile manipulator.