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

✍ Scribed by Y. Yavin

• Publisher: Elsevier Science
• Year: 2005
• Tongue: English
• Weight: 685 KB
• Volume: 50
• Category: Article
• ISSN: 0898-1221
• DOI: 10.1016/j.camwa.2005.08.027

✦ Synopsis

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, t/], where 0 < tf < co. 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. @