Part II: System Behavior and Extimation

New Trends in Nonlinear Dynamics and Control and their Applications

Volume 295 of the series Lecture Notes in Control and Information Science pp 145-159


Gyroscopic Forces and Collision Avoidance with Convex Obstacles

  • Dong Eui ChangAffiliated withMechanical & Environmental Engineering, University of California, Santa Barbara, CA 93106-5070
  • , Jerrold E. MarsdenAffiliated withControl & Dynamical Systems, California Institute of Technology, Pasadena, CA 91125

* Final gross prices may vary according to local VAT.

Get Access


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 and extend the method to include .ocking and swarming behavior.