In this paper we provide techniques for exploring the trajectory space of a simple nonholonomic motorcycle (or bicycle) model. Given a time indexed plane curve (including appropriate derivatives), we determine a motorcycle trajectory that (approximately) implements the desired plane trajectory. In this fashion, we find that the trajectories of the nonholonomic motorcycle may be parametrized by the trajectories of a nonholonomic car. We have presented an effective means for exploring aggressive motorcycle trajectories. In order to provide effective trajectory optimization, we embedded the nonlinear time-varying roll system dynamics into a control system by adding a nonphysical control. Optimizating away this extra control, we were able to lift a flatland (car) trajectory into a much more interesting trajectory for systems that lean appropriately for turning.


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    Title :

    Aggressive motorcycle trajectories


    Additional title:

    Aggressive Motorradbahnen


    Contributors:


    Publication date :

    2004


    Size :

    6 Seiten


    Type of media :

    Conference paper


    Type of material :

    Storage medium


    Language :

    English




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