Navigation and control of the motion of a riderless bicycle by using a simplified dynamic model

This work deals with the guidance and control of a riderless bicycle (see Figure 1). Given two points P₁ and p₂ in the horizontal plane and a finite time interval [0, t_f]. Denote by (x₁,y₁,z₁) the coordinates of the center of the bicycle's rear wheel. Based on a simplified dynamical model of the bicycle, and by using the concept of path controllability, control laws are derived for the bicycle's pedalling moment and directional moment such that (x₁,y₁) will move from p₁ to P₂ during the time interval [0, t_f].