NDLI: Pseudospectral motion planning for autonomous bicycles

Content Provider	IEEE Xplore Digital Library
Author	Jing Yuan Jinhe Zhang Song Ding
Copyright Year	2015
Description	Author affiliation: Dept. of Autom., Nankai Univ., Tianjin, China (Jing Yuan; Jinhe Zhang; Song Ding)
Abstract	Motion planning for the autonomous bicycles offers considerable challenges to the area of robotics due to the platform's nonholonomic, underactuated and nonminimum-phase properties. Instability and nontrivial dynamic coupling make the motion planning of the bicycles a rather complex task. In this paper, the motion planning for the autonomous bicycle is formulated as a dynamic constrained optimization problem subject to the dynamic constraints and the path constraints. The cost function is designed as the integral of the square of the bicycle's roll angle, in order to acquire a motion trajectory with sufficiently small roll angles, which can increase the balance stability of the bicycle. This optimization problem is solved by the Gauss pseudospectral method (GPM). Simulation results are presented to demonstrate the effectiveness of the proposed method.
Sponsorship	IEEE Ind. Electron. Soc. (IES)
Starting Page	482
Ending Page	487
File Size	326792
Page Count	6
File Format	PDF
e-ISBN	9781467391078
DOI	10.1109/AIM.2015.7222580
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-07
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Bicycles Trajectory Planning Wheels Dynamics Simulation Cost function pseudospectral method Autonomous bicycle motion planning
Content Type	Text
Resource Type	Article

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