A Path Tracking Method for an Unmanned Bicycle Based on the Body-Fixed Coordinate Frame

Author:

Cheng Kaizhuo1,Duan Yupeng1,Wu Jinglai1,Zhang Yunqing1

Affiliation:

1. Huazhong University of Science and Technology

Abstract

<div class="section abstract"><div class="htmlview paragraph">The present study introduces a novel approach for achieving path tracking of an unmanned bicycle in its local body-fixed coordinate frame. A bicycle is generally recognized as a multibody system consisting of four distinct rigid bodies, namely the front wheel, the front fork, the body frame, and the rear wheel. In contrast to most previous studies, the relationship between a tire and the road is now considered in terms of tire forces rather than nonholonomic constraints. The body frame has six degrees of freedom, while the rear wheel and front fork each have one degree of freedom relative to the body frame. The front wheel exhibits a single degree of freedom relative to the front fork. A bicycle has a total of nine degrees of freedom. The expression of the kinetic energy of a bike is formulated using quasi-coordinates in the local body-fixed coordinate frame, which provides a more simplified representation compared to the utilization of absolute coordinates in the global coordinate frame. The acquisition of the dynamic model involves the substitution of the expression of kinetic energy into the Lagrange equation. The application of the Lagrange equation of the second kind is computationally efficient but the derivation is difficult. The derivation using the Lagrange equation of the first kind is relatively simple, but its computational efficiency is poor. The present study combines two methods by dividing the bicycle from the steering pivot into two rigid body groups, applying the Lagrange equation of the second kind in each group, and then applying the Lagrange equation of the first kind to both groups. This method is simple to derive and has good computational efficiency. The path is strategically organized in the body coordinate frame to circumvent possible singularity issues in the global coordinate frame. A dual-loop PID controller is implemented to achieve path tracking where the inner loop controller is responsible for maintaining the stability of the bicycle, while the outer loop controller ensures that the bicycle follows the desired path.</div></div>

Publisher

SAE International

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3