Control of a Two-Wheel Steering Bikebot for Agile Maneuvers

Abstract

Single-track mobile robot can carry on agile maneuvers that are difficult for double-track robots. This paper presents a modeling and control framework of a two-wheel steering, single-track mobile robot called bikebot system. We first build a dynamic model for the autonomous two-wheel steering bikebot and then a control system design is presented for the bikebot to track a desired trajectory while maintaining balance. Control design and performance evaluation are conducted and compared with one-wheel steering platform. Simulation results are presented to demonstrate the control design for autonomous agile maneuvers.