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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.

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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.

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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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Office of Naval Research (ONR)N00014-02-1-0826
Series Name:Lecture Notes in Control and Information Sciences
Record Number:CaltechAUTHORS:20100730-114620195
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:19230
Deposited By: Ruth Sustaita
Deposited On:30 Jul 2010 21:27
Last Modified:08 Nov 2021 23:50

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