Point-to-point and collision avoidance control of the motion of an autonomous bicycle |
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Authors: | Y. Yavin |
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Affiliation: | Department of Electrical, Electronic, and Computer Engineering University of Pretoria, Pretoria, South Africa |
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Abstract: | This work deals with the stabilization and collision avoidance control of a riderless bicycle (see Figure 1). It is assumed here that the bicycle is controlled by a pedalling torque, a directional torque, and by a rotor mounted on the crossbar that generates a tilting torque.Given two points rA, rB, and a circular obstacle in the horizontal plane. Also, given a time interval [0, tf], where 0 < tf < ∞. It is shown here that by applying a kind of inverse dynamics control, the motion of the bicycle is stabilized while simultaneously controlling its speed and direction in such a manner that the point of contact between the bicycle's rear wheel and the horizontal plane will be able, during [0, tf], to move from rA to rB without hitting the obstacle. |
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Keywords: | Bicycle Circular rotor plate Collision avoidance Nonholonomic constraints Inverse dynamics control Stabilization Point-to-point control |
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