Point-to-point and collision avoidance control of the motion of an autonomous bicycle

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 r_A, r_B, and a circular obstacle in the horizontal plane. Also, given a time interval [0, t_f], where 0 < t_f < ∞. 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, t_f], to move from r_A to r_B without hitting the obstacle.