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Navigation and control of the motion of a riderless bicycle

✍ Scribed by Y. Yavin

Publisher
Elsevier Science
Year
1998
Tongue
English
Weight
583 KB
Volume
160
Category
Article
ISSN
0045-7825

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✦ Synopsis

This work deals with the guidance and control of a riderless bicycle. Given two points, PI and P,, in the horizontal plane and a finite time interval [0, t,], denote by (xt , yt , ~1) the coordinates of the center of the bicycle's rear wheel. Based on a simplified dynamical model of the bicycle, and by using the concept of path controllability, control laws are derived for the bicycle's pedalling moment and directional moment such that (xt, yt) will move from PI to Pz during the time interval [0, tf].

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