A self-balancing unmanned bicycle and its self-evolving control method based on intelligent evolution

Abstract

The invention discloses a self-balancing driverless bicycle based on intelligent evolution and a control method for its self-evolution. The self-balancing driverless bicycle includes a bicycle, a sensor module, a handlebar control module, a middle control module of the vehicle body and a vehicle body. Rear control module. The control method includes two parts: self-balancing control and driverless control. After setting the basic rules and evolution goals, self-balancing control generates a basic control rule set based on physical simulation, and on this basis, the control rules are self-evolved by continuously improving the control accuracy and environmental complexity. Finally, the bicycle is realized based on self-evolution. Self-balancing. The driverless bicycle of the present invention has a self-balancing function in a variety of motion states through a coupled control method. At the same time, it adopts an indirect drive method and does not require further modification of ordinary bicycles. It only requires three controller modules. When installed on an ordinary bicycle, the bicycle can be self-balancing and driverless.

Description

technical field

[0001] The invention relates to the field of traffic, in particular to an intelligent evolution-based self-balancing unmanned bicycle and a self-evolution control method thereof. Background technique

[0002] As a traditional means of transportation, bicycles have the advantages of narrow body, simple mechanism, small-radius rotation, convenience and flexibility, no pollution, no noise, no need for energy, and low price. It plays a pivotal role in the life of modern people whose problems such as rising and falling are becoming more and more serious. Unmanned bicycles can not only provide driving balance assistance for some special groups such as children and the elderly, but are also expected to be widely used in disaster rescue and forest operations.

[0003] As people's attention to intelligent vehicles and unmanned driving technology continues to increase, driverless bicycles or bicycle robots have made initial developments on the basis of this concept of...

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