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

Abstract

The invention discloses a self-balancing unmanned bicycle based on intellectual evolution and a competition and cooperation control method thereof. The self-balancing unmanned bicycle based on the intellectual evolution comprises a bicycle, a sensor module, a handlebar control module, a bicycle body middle part control module and a bicycle body rear part control module. The competition and cooperation control method comprises self-balancing control and unmanned driving control. The self-balancing control is realized by screening a control strategy by judging whether the actual bicycle state change is as same as expected change or not when a rider rides the bicycle, and finally the self-balancing of the bicycle on the basis of real-time learning of competition and cooperation is realized. The self-balancing unmanned bicycle based on the intellectual evolution can realize a self-balancing function in multiple motion states by using a coupled control method; and meanwhile, as an indirectdriving method is adopted and the common bicycle does not need to be further remodeled, the self-balancing and unmanned driving of the bicycle can be realized only by mounting three controller moduleson a common bicycle.

Description

technical field [0001] The invention relates to the field of transportation, in particular to a self-balancing unmanned bicycle based on intelligent evolution and a control method for competition and cooperation 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 th...

AI Technical Summary

Problems solved by technology

The front handle of the bicycle has a high degree of freedom, and the two wheels have no direct drive force

Therefore, the driving force that causes its balance on a motorcycle or electric bicycle does not exist on a bicycle, and its balancing method is invalid on a bicycle, which brings more difficulties to the self-balancing and unmanned driving of the bicycle

[0005] At the same time, although there are some related self-evolution simulation studies, there is no related research on self-evolution based on hardware, and it has not been applied to the self-balancing problem of bicycles.

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