Trajectory tracking for an autonomous bicycle is considered in this paper. The trajectory tracking controller is designed using a Model Predictive Controller with constraints on the lean, steer, and heading angle as well as the position coordinates of the bicycle. The output from the trajectory tracking controller is the desired lean angle and forward velocity. Furthermore, a PID controller is designed to follow the desired lean angle, while maintaining balance, by actuation of the handlebar. The proposed control strategy is evaluated in numerous simulations where a realistic nonlinear model of the bicycle is traversing a go-kart track and a short track with narrow curves. The Hausdorff distance and Mean Squared Error are considered as measurements of the performance. The results show that the bicycle successfully can track desired trajectories at varying velocities.
Trajectory tracking and stabilisation of a riderless bicycle*
2021-09-19
1364270 byte
Conference paper
Electronic Resource
English
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