Kinematics and Trajectory Tracking Motion Plan of an Unmanned Bicycle
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.
Zhengyi Jiang, Jingtao Han and Xianghua Liu
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