Published 2003
| Accepted Version
Book Section - Chapter
Open
Gyroscopic Forces and Collision Avoidance with Convex Obstacles
- Creators
- Chang, Dong Eui
- Marsden, Jerrold E.
- Others:
- Kang, W.
- Xiao, M. Q.
- Borges, C.
Chicago
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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.
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.Attached Files
Accepted Version - ChMa2003.pdf
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Additional details
- Eprint ID
- 19230
- Resolver ID
- CaltechAUTHORS:20100730-114620195
- Office of Naval Research (ONR)
- N00014-02-1-0826
- Created
-
2010-07-30Created from EPrint's datestamp field
- Updated
-
2021-11-08Created from EPrint's last_modified field
- Series Name
- Lecture Notes in Control and Information Sciences