Boundary following using gyroscopic control
Zhang, F.; Justh, E.W.; Krishnaprasad, P.S.
Decision and Control, 2004. CDC. 43rd IEEE Conference on
Volume 5, Issue , 14-17 Dec. 2004 Page(s): 5204 - 5209 Vol.5
Digital Object Identifier   10.1109/CDC.2004.1429634
Summary: Recent work in the study of interacting particles has demonstrated the effectiveness of gyroscopic interactions in producing desired stable spatial patterns (formations) of motion of a collective of particles. In this paper, we discuss the problem of how a single particle might interact with a fixed structure in space by exploiting gyroscopic feedback laws. We derive a gyroscopic feedback law modeling the interaction of a particle in the plane with an image particle representing the closest point on a simple closed curve bounding an obstacle and show that this law produces boundary-following behavior. We also provide a preliminary discussion of the three-dimensional case.

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