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Gyroscopic Forces and Collision Avoidance with Convex Obstacles

Chang, Dong Eui and Marsden, Jerrold E. (2003) Gyroscopic Forces and Collision Avoidance with Convex Obstacles. In: New Trends in Nonlinear Dynamics and Control and their Applications. Lecture Notes in Control and Information Sciences. Vol.295. Springer Berlin , pp. 145-159. ISBN 9783540404743 http://resolver.caltech.edu/CaltechAUTHORS:20100730-114620195

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Abstract

This paper introduces gyroscopic forces as an tool that can be used in addition to the use of potential forces in the study of collision and convex obstacle avoidance. It makes use of the concepts of a detection shell and a safety shell and shows, in an appropriate context, that collisions are avoided, while at the same time guaranteeing that control objectives determined by a potential function are met. In related publications, we refine and extend the method to include flocking and swarming behavior.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://www.springerlink.com/content/bvhcefm36xpa5jgh/PublisherUNSPECIFIED
http://dx.doi.org/10.1007/978-3-540-45056-6_9DOIUNSPECIFIED
Additional Information:© Springer-Verlag, 2003. We thank Noah Cowan, Sanjay Lall, Naomi Leonard, Elon Rimon, Clancy Rowley, Shawn Shadden, Claire Tomlin, and Steve Waydo for their interest and valuable comments. Research partially supported by ONR/AOSN-II contract N00014-02-1-0826 through Princeton University.
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Funding AgencyGrant Number
ONR/AOSN-IIN00014-02-1-0826
Record Number:CaltechAUTHORS:20100730-114620195
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20100730-114620195
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:19230
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:30 Jul 2010 21:27
Last Modified:26 Dec 2012 12:16

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