Gyroscopic forces and collision avoidance with convex obstacles

Chang, D. E. and J. E. Marsden

Nonlinear Dynamics and Control, 295, 145-160

Abstract:

This paper introduces gyroscopic forces as a 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.