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 P-1 and P-2 in the horizontal plane and a finite time interval [0,t(f)]. Denote by (x(1),y(1),z(1)) 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 (x(1),y(1)) will move from P-1 to P-2 during the time interval [0, t(f)].