Paper Title:
Kinematics and Trajectory Tracking Motion Plan of an Unmanned Bicycle
  Abstract

Kinematics and ground plane trajectory tracking motion plan of an unmanned bicycle were researched in this paper. For the unmanned bicycle controlled by a steering torque, a pedaling toque and a tilting torque, rigorous kinematics model was set up and discussed, and when the ground plane trajectories and the bicycle tilting angular trajectory were given, by use of Back-stepping design means, the steering angular velocity, the rear wheel rotation angular velocity and the other motion parameters trajectories of the unmanned bicycle were planned and discussed, the simulation results showed that the kinematics model built was accurate and rigorous, all above motion parameter plans were reasonable.

  Info
Periodical
Advanced Materials Research (Volumes 152-153)
Edited by
Zhengyi Jiang, Jingtao Han and Xianghua Liu
Pages
341-345
DOI
10.4028/www.scientific.net/AMR.152-153.341
Citation
Y. B. Liu, Q. H. Ji, X. C. Sun, J. H. Han, "Kinematics and Trajectory Tracking Motion Plan of an Unmanned Bicycle", Advanced Materials Research, Vols. 152-153, pp. 341-345, 2011
Online since
October 2010
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Price
$32.00
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