Kinematics and Trajectory Tracking Motion Plan of an Unmanned Bicycle

Abstract:

Article Preview

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 et al., "Kinematics and Trajectory Tracking Motion Plan of an Unmanned Bicycle", Advanced Materials Research, Vols. 152-153, pp. 341-345, 2011

Online since:

October 2010

Export:

Price:

$35.00

In order to see related information, you need to Login.

In order to see related information, you need to Login.