In this paper we provide techniques for exploring the trajectory space of a simple nonholonomic motorcycle (or bicycle) model. Given a time indexed plane curve (including appropriate derivatives), we determine a motorcycle trajectory that (approximately) implements the desired plane trajectory. In this fashion, we find that the trajectories of the nonholonomic motorcycle may be parametrized by the trajectories of a nonholonomic car. We have presented an effective means for exploring aggressive motorcycle trajectories. In order to provide effective trajectory optimization, we embedded the nonlinear time-varying roll system dynamics into a control system by adding a nonphysical control. Optimizating away this extra control, we were able to lift a flatland (car) trajectory into a much more interesting trajectory for systems that lean appropriately for turning.
Aggressive motorcycle trajectories
Aggressive Motorradbahnen
2004
6 Seiten
Aufsatz (Konferenz)
Datenträger
Englisch