A Path Tracking Method for an Unmanned Bicycle Based on the Body-Fixed Coordinate Frame
Kaizhuo Cheng,
Yupeng Duan,
Jinglai Wu
et al.
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 rat… Show more
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