Gyroscopic forces and collision avoidance with convex obstacles

被引：0
|
作者：
Chang, DE [1 ]
Marsden, JE
机构：
[1] Univ Calif Santa Barbara, Santa Barbara, CA 93106 USA
[2] CALTECH, Pasadena, CA 91125 USA
来源：
NEW TRENDS IN NONLINEAR DYNAMICS AND CONTROL, AND THEIR APPLICATIONS | 2003年 / 295卷
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：145 / 159
页数：15
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