Gyroscopic Forces and Collision Avoidance with Convex Obstacles

  • Dong Eui Chang
  • Jerrold E. Marsden
Part II: System Behavior and Extimation

DOI: 10.1007/978-3-540-45056-6_9

Volume 295 of the book series Lecture Notes in Control and Information Science (LNCIS)
Cite this paper as:
Chang D.E., Marsden J.E. () Gyroscopic Forces and Collision Avoidance with Convex Obstacles. In: Kang W., Borges C., Xiao M. (eds) New Trends in Nonlinear Dynamics and Control and their Applications. Lecture Notes in Control and Information Science, vol 295. Springer, Berlin, Heidelberg

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

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Authors and Affiliations

  • Dong Eui Chang
    • 1
  • Jerrold E. Marsden
    • 2
  1. 1.Mechanical & Environmental Engineering, University of California, Santa Barbara, CA 93106-5070 
  2. 2.Control & Dynamical Systems, California Institute of Technology, Pasadena, CA 91125