Velocity Field-based Maneuver Regulation of Autonomous Motorcycles

Single-track vehicles such as motorcycles or bicycles provide an agile mobile platform. Control of motorcycles is challenging due to its underactuation and non-minimum phase dynamics properties. In this paper, we present a maneuver regulation control design for autonomous motorcycles. The maneuver regulation control guides the vehicle to follow a desired path and automatically tunes the desired velocity. We extend the motorcycle dynamics by including the coupled longitudinal/lateral tire/road interaction. We then design a velocity field for regulating vehicle maneuvers. The velocity field-based maneuver regulation design is integrated with the previously established trajectory tracking controller for motorcycle systems. Simulation results are presented to illustrate the maneuver regulation design.