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

Authors
Journal
Computers & Mathematics with Applications
0898-1221
Publisher
Elsevier
Publication Date
Volume
50
Identifiers
DOI: 10.1016/j.camwa.2005.08.027
Keywords
  • Bicycle
  • Circular Rotor Plate
  • Collision Avoidance
  • Nonholonomic Constraints
  • Inverse Dynamics Control
  • Stabilization
  • Point-To-Point Control

Abstract

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 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.

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